From 4711ca8980eddd33299b6b0cc24650e4481942d0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 28 Oct 2018 17:34:41 -0400 Subject: [PATCH 001/120] Added a number of docker images --- docker/ubuntu-gtsam-python-vnc/Dockerfile | 18 ++++ docker/ubuntu-gtsam-python-vnc/bootstrap.sh | 111 ++++++++++++++++++++ docker/ubuntu-gtsam-python-vnc/build.sh | 4 + docker/ubuntu-gtsam-python-vnc/vnc.sh | 5 + docker/ubuntu-gtsam-python/Dockerfile | 29 +++++ docker/ubuntu-gtsam-python/build.sh | 3 + docker/ubuntu-gtsam/Dockerfile | 35 ++++++ docker/ubuntu-gtsam/build.sh | 3 + 8 files changed, 208 insertions(+) create mode 100644 docker/ubuntu-gtsam-python-vnc/Dockerfile create mode 100755 docker/ubuntu-gtsam-python-vnc/bootstrap.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/build.sh create mode 100755 docker/ubuntu-gtsam-python-vnc/vnc.sh create mode 100644 docker/ubuntu-gtsam-python/Dockerfile create mode 100755 docker/ubuntu-gtsam-python/build.sh create mode 100644 docker/ubuntu-gtsam/Dockerfile create mode 100755 docker/ubuntu-gtsam/build.sh diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile new file mode 100644 index 000000000..83222881a --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -0,0 +1,18 @@ +# Get the base Ubuntu/GTSAM image from Docker Hub +FROM dellaert/ubuntu-gtsam-python:bionic + +# Things needed to get a python GUI +ENV DEBIAN_FRONTEND noninteractive +RUN apt-get install -y python-tk +RUN pip install matplotlib + +# Install a VNC X-server, Frame buffer, and windows manager +RUN apt-get install -y x11vnc xvfb fluxbox + +# Finally, install wmctrl needed for bootstrap script +RUN apt-get install -y wmctrl + +# Copy bootstrap script and make sure it runs +COPY bootstrap.sh / + +CMD '/bootstrap.sh' diff --git a/docker/ubuntu-gtsam-python-vnc/bootstrap.sh b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh new file mode 100755 index 000000000..21356138f --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/bootstrap.sh @@ -0,0 +1,111 @@ +#!/bin/bash + +# Based on: http://www.richud.com/wiki/Ubuntu_Fluxbox_GUI_with_x11vnc_and_Xvfb + +main() { + log_i "Starting xvfb virtual display..." + launch_xvfb + log_i "Starting window manager..." + launch_window_manager + log_i "Starting VNC server..." + run_vnc_server +} + +launch_xvfb() { + local xvfbLockFilePath="/tmp/.X1-lock" + if [ -f "${xvfbLockFilePath}" ] + then + log_i "Removing xvfb lock file '${xvfbLockFilePath}'..." + if ! rm -v "${xvfbLockFilePath}" + then + log_e "Failed to remove xvfb lock file" + exit 1 + fi + fi + + # Set defaults if the user did not specify envs. + export DISPLAY=${XVFB_DISPLAY:-:1} + local screen=${XVFB_SCREEN:-0} + local resolution=${XVFB_RESOLUTION:-1280x960x24} + local timeout=${XVFB_TIMEOUT:-5} + + # Start and wait for either Xvfb to be fully up or we hit the timeout. + Xvfb ${DISPLAY} -screen ${screen} ${resolution} & + local loopCount=0 + until xdpyinfo -display ${DISPLAY} > /dev/null 2>&1 + do + loopCount=$((loopCount+1)) + sleep 1 + if [ ${loopCount} -gt ${timeout} ] + then + log_e "xvfb failed to start" + exit 1 + fi + done +} + +launch_window_manager() { + local timeout=${XVFB_TIMEOUT:-5} + + # Start and wait for either fluxbox to be fully up or we hit the timeout. + fluxbox & + local loopCount=0 + until wmctrl -m > /dev/null 2>&1 + do + loopCount=$((loopCount+1)) + sleep 1 + if [ ${loopCount} -gt ${timeout} ] + then + log_e "fluxbox failed to start" + exit 1 + fi + done +} + +run_vnc_server() { + local passwordArgument='-nopw' + + if [ -n "${VNC_SERVER_PASSWORD}" ] + then + local passwordFilePath="${HOME}/.x11vnc.pass" + if ! x11vnc -storepasswd "${VNC_SERVER_PASSWORD}" "${passwordFilePath}" + then + log_e "Failed to store x11vnc password" + exit 1 + fi + passwordArgument=-"-rfbauth ${passwordFilePath}" + log_i "The VNC server will ask for a password" + else + log_w "The VNC server will NOT ask for a password" + fi + + x11vnc -ncache 10 -ncache_cr -display ${DISPLAY} -forever ${passwordArgument} & + wait $! +} + +log_i() { + log "[INFO] ${@}" +} + +log_w() { + log "[WARN] ${@}" +} + +log_e() { + log "[ERROR] ${@}" +} + +log() { + echo "[$(date '+%Y-%m-%d %H:%M:%S')] ${@}" +} + +control_c() { + echo "" + exit +} + +trap control_c SIGINT SIGTERM SIGHUP + +main + +exit diff --git a/docker/ubuntu-gtsam-python-vnc/build.sh b/docker/ubuntu-gtsam-python-vnc/build.sh new file mode 100755 index 000000000..8d280252f --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/build.sh @@ -0,0 +1,4 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +# Needs to be run in docker/ubuntu-gtsam-python-vnc directory +docker build -t dellaert/ubuntu-gtsam-python-vnc:bionic . diff --git a/docker/ubuntu-gtsam-python-vnc/vnc.sh b/docker/ubuntu-gtsam-python-vnc/vnc.sh new file mode 100755 index 000000000..c0ab692c6 --- /dev/null +++ b/docker/ubuntu-gtsam-python-vnc/vnc.sh @@ -0,0 +1,5 @@ +# After running this script, connect VNC client to 0.0.0.0:5900 +docker run -it \ + --workdir="/usr/src/gtsam" \ + -p 5900:5900 \ + dellaert/ubuntu-gtsam-python-vnc:bionic \ No newline at end of file diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile new file mode 100644 index 000000000..0c7d131be --- /dev/null +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -0,0 +1,29 @@ +# Get the base Ubuntu/GTSAM image from Docker Hub +FROM dellaert/ubuntu-gtsam:bionic + +# Install pip +RUN apt-get install -y python-pip python-dev + +# Install python wrapper requirements +RUN pip install -r /usr/src/gtsam/cython/requirements.txt + +# Run cmake again, now with cython toolbox on +WORKDIR /usr/src/gtsam/build +RUN cmake \ + -DCMAKE_BUILD_TYPE=Release \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DGTSAM_WITH_EIGEN_MKL=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ + .. + +# Build again, as ubuntu-gtsam image cleaned +RUN make -j3 install && make clean + +# Needed to run python wrapper: +RUN echo 'export PYTHONPATH=/usr/local/cython/' >> /root/.bashrc + +# Run bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam-python/build.sh b/docker/ubuntu-gtsam-python/build.sh new file mode 100755 index 000000000..1696f6c61 --- /dev/null +++ b/docker/ubuntu-gtsam-python/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic . diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile new file mode 100644 index 000000000..bdfa8d9a5 --- /dev/null +++ b/docker/ubuntu-gtsam/Dockerfile @@ -0,0 +1,35 @@ +# Get the base Ubuntu image from Docker Hub +FROM dellaert/ubuntu-boost-tbb-eigen3:bionic + +# Install git +RUN apt-get update && \ + apt-get install -y git + +# Install compiler +RUN apt-get install -y build-essential + +# Clone GTSAM +WORKDIR /usr/src/ +RUN git clone https://bitbucket.org/gtborg/gtsam.git + +# Run cmake +RUN mkdir /usr/src/gtsam/build +WORKDIR /usr/src/gtsam/build +RUN cmake \ + -DCMAKE_BUILD_TYPE=Release \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DGTSAM_WITH_EIGEN_MKL=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_INSTALL_CYTHON_TOOLBOX=OFF \ + .. + +# Build +RUN make -j3 install && make clean + +# Needed to link with GTSAM +RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib' >> /root/.bashrc + +# Run bash +CMD ["bash"] diff --git a/docker/ubuntu-gtsam/build.sh b/docker/ubuntu-gtsam/build.sh new file mode 100755 index 000000000..bf545e9c2 --- /dev/null +++ b/docker/ubuntu-gtsam/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-gtsam:bionic . From 221dcaa13ac427082e55b7b3b67c78b9eec396a1 Mon Sep 17 00:00:00 2001 From: kvmanohar22 Date: Mon, 30 Mar 2020 22:16:30 +0530 Subject: [PATCH 002/120] adding functionality to use ISAM2 for imu preintegration example --- examples/ImuFactorsExample.cpp | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index e038f5117..bdeb99d0c 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -33,6 +33,8 @@ * optional arguments: * data_csv_path path to the CSV file with the IMU data. * -c use CombinedImuFactor + * Note: Define USE_LM to use Levenberg Marquardt Optimizer + * By default ISAM2 is used */ // GTSAM related includes. @@ -44,11 +46,15 @@ #include #include #include +#include #include #include #include #include +// Uncomment the following to use Levenberg Marquardt Optimizer +// #define USE_LM + using namespace gtsam; using namespace std; @@ -67,6 +73,17 @@ int main(int argc, char* argv[]) { string data_filename; bool use_combined_imu = false; + +#ifndef USE_LM + printf("Using ISAM2\n"); + ISAM2Params parameters; + parameters.relinearizeThreshold = 0.01; + parameters.relinearizeSkip = 1; + ISAM2 isam2(parameters); +#else + printf("Using Levenberg Marquardt Optimizer\n"); +#endif + if (argc < 2) { printf("using default CSV file\n"); data_filename = findExampleDataFile("imuAndGPSdata.csv"); @@ -248,9 +265,19 @@ int main(int argc, char* argv[]) initial_values.insert(V(correction_count), prop_state.v()); initial_values.insert(B(correction_count), prev_bias); + Values result; +#ifdef USE_LM LevenbergMarquardtOptimizer optimizer(*graph, initial_values); - Values result = optimizer.optimize(); + result = optimizer.optimize(); +#else + isam2.update(*graph, initial_values); + isam2.update(); + result = isam2.calculateEstimate(); + // reset the graph + graph->resize(0); + initial_values.clear(); +#endif // Overwrite the beginning of the preintegration for the next step. prev_state = NavState(result.at(X(correction_count)), result.at(V(correction_count))); From 201539680f6e2e1db00b6d2b49ceb1a8c9b8db4f Mon Sep 17 00:00:00 2001 From: yetongumich Date: Wed, 1 Apr 2020 20:07:49 -0400 Subject: [PATCH 003/120] remove distance in noisemodel, replace with error --- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 19 ++++++++++++------- gtsam/linear/tests/testNoiseModel.cpp | 10 +++++----- gtsam/nonlinear/NonlinearFactor.cpp | 2 +- 5 files changed, 21 insertions(+), 16 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2310d88f0..2e634190c 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -515,7 +515,7 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const { double JacobianFactor::error(const VectorValues& c) const { Vector e = unweighted_error(c); // Use the noise model distance function to get the correct error if available. - if (model_) return 0.5 * model_->distance(e); + if (model_) return model_->error(e); return 0.5 * e.dot(e); } diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 33f51e1f0..d1a03eb5b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -369,12 +369,12 @@ Vector Constrained::whiten(const Vector& v) const { } /* ************************************************************************* */ -double Constrained::distance(const Vector& v) const { +double Constrained::error(const Vector& v) const { Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements for (size_t i=0; i& A, Vector& b) const = 0; virtual void WhitenSystem(Matrix& A, Vector& b) const = 0; @@ -224,8 +229,8 @@ namespace gtsam { } #endif - inline virtual double distance(const Vector& v) const { - return SquaredMahalanobisDistance(v); + inline virtual double error(const Vector& v) const { + return 0.5 * SquaredMahalanobisDistance(v); } /** @@ -477,7 +482,7 @@ namespace gtsam { * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ - virtual double distance(const Vector& v) const; + virtual double error(const Vector& v) const; /** Fully constrained variations */ static shared_ptr All(size_t dim) { @@ -705,11 +710,11 @@ namespace gtsam { { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } inline virtual Vector unwhiten(const Vector& /*v*/) const { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } - // Fold the use of the m-estimator loss(...) function into distance(...) - inline virtual double distance(const Vector& v) const + // Fold the use of the m-estimator loss(...) function into error(...) + inline virtual double error(const Vector& v) const { return robust_->loss(this->unweightedWhiten(v).norm()); } - inline virtual double distance_non_whitened(const Vector& v) const - { return robust_->loss(v.norm()); } + // inline virtual double distance_non_whitened(const Vector& v) const + // { return robust_->loss(v.norm()); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 0290fc5d8..52e1eefee 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -182,8 +182,8 @@ TEST(NoiseModel, ConstrainedMixed ) EXPECT(assert_equal(Vector3(0.5, 1.0, 0.5),d->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.5, 0.0, 0.5),d->whiten(feasible))); - DOUBLES_EQUAL(1000.0 + 0.25 + 0.25,d->distance(infeasible),1e-9); - DOUBLES_EQUAL(0.5,d->distance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->error(infeasible),1e-9); + DOUBLES_EQUAL(0.5 * 0.5,d->error(feasible),1e-9); } /* ************************************************************************* */ @@ -197,8 +197,8 @@ TEST(NoiseModel, ConstrainedAll ) EXPECT(assert_equal(Vector3(1.0, 1.0, 1.0),i->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.0, 0.0, 0.0),i->whiten(feasible))); - DOUBLES_EQUAL(1000.0 * 3.0,i->distance(infeasible),1e-9); - DOUBLES_EQUAL(0.0,i->distance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->error(infeasible),1e-9); + DOUBLES_EQUAL(0.0,i->error(feasible),1e-9); } /* ************************************************************************* */ @@ -687,7 +687,7 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) EQUALITY(cov, gaussian->covariance());\ EXPECT(assert_equal(white, gaussian->whiten(e)));\ EXPECT(assert_equal(e, gaussian->unwhiten(white)));\ - EXPECT_DOUBLES_EQUAL(251, gaussian->distance(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(0.5 * 251, gaussian->error(e), 1e-9);\ Matrix A = R.inverse(); Vector b = e;\ gaussian->WhitenSystem(A, b);\ EXPECT(assert_equal(I, A));\ diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index ee14e8073..40fc1c427 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -121,7 +121,7 @@ double NoiseModelFactor::error(const Values& c) const { const Vector b = unwhitenedError(c); check(noiseModel_, b.size()); if (noiseModel_) - return 0.5 * noiseModel_->distance(b); + return noiseModel_->error(b); else return 0.5 * b.squaredNorm(); } else { From 3b183e2da0534ffc26ce66b69aeee03ddfb2730f Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:03:05 -0400 Subject: [PATCH 004/120] add test on robust loss functions to behave like quadratic --- gtsam/linear/tests/testNoiseModel.cpp | 30 +++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 52e1eefee..c6fcdd77a 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -681,6 +681,36 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) } +TEST(NoiseModel, lossFunctionAtZero) +{ + const double k = 5.0; + auto fair = mEstimator::Fair::Create(k); + DOUBLES_EQUAL(fair->loss(0), 0, 1e-8); + DOUBLES_EQUAL(fair->weight(0), 1, 1e-8); + auto huber = mEstimator::Huber::Create(k); + DOUBLES_EQUAL(huber->loss(0), 0, 1e-8); + DOUBLES_EQUAL(huber->weight(0), 1, 1e-8); + auto cauchy = mEstimator::Cauchy::Create(k); + DOUBLES_EQUAL(cauchy->loss(0), 0, 1e-8); + DOUBLES_EQUAL(cauchy->weight(0), 1, 1e-8); + auto gmc = mEstimator::GemanMcClure::Create(k); + DOUBLES_EQUAL(gmc->loss(0), 0, 1e-8); + DOUBLES_EQUAL(gmc->weight(0), 1, 1e-8); + auto welsch = mEstimator::Welsch::Create(k); + DOUBLES_EQUAL(welsch->loss(0), 0, 1e-8); + DOUBLES_EQUAL(welsch->weight(0), 1, 1e-8); + auto tukey = mEstimator::Tukey::Create(k); + DOUBLES_EQUAL(tukey->loss(0), 0, 1e-8); + DOUBLES_EQUAL(tukey->weight(0), 1, 1e-8); + auto dcs = mEstimator::DCS::Create(k); + DOUBLES_EQUAL(dcs->loss(0), 0, 1e-8); + DOUBLES_EQUAL(dcs->weight(0), 1, 1e-8); + // auto lsdz = mEstimator::L2WithDeadZone::Create(k); + // DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8); + // DOUBLES_EQUAL(lsdz->weight(0), 1, 1e-8); +} + + /* ************************************************************************* */ #define TEST_GAUSSIAN(gaussian)\ EQUALITY(info, gaussian->information());\ From 227bff6aeeddb4b85d6c05ce75f18df22c099447 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 005/120] Revert "add implementation for deprecated Mahalanobis" This reverts commit 351c6f8bccca726e3515721cde22626750fc4011. --- gtsam/linear/NoiseModel.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index feacf7b19..4c74d9e46 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -224,9 +224,7 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const { - return SquaredMahalanobisDistance(v); - } + virtual double Mahalanobis(const Vector& v) const; #endif inline virtual double error(const Vector& v) const { From 9d60c505e87ca3eb965a16ab2919d96c0e32753c Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:06:31 -0400 Subject: [PATCH 006/120] merge with mahalanobis renaming --- gtsam/linear/NoiseModel.cpp | 4 ++-- gtsam/linear/NoiseModel.h | 10 +++++----- gtsam/linear/tests/testNoiseModel.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index d1a03eb5b..e0ca3726b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const { } /* ************************************************************************* */ -double Gaussian::SquaredMahalanobisDistance(const Vector& v) const { +double Gaussian::squaredMahalanobisDistance(const Vector& v) const { // Note: for Diagonal, which does ediv_, will be correct for constraints Vector w = whiten(v); return w.dot(w); @@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const { } /* ************************************************************************* */ -double Isotropic::SquaredMahalanobisDistance(const Vector& v) const { +double Isotropic::squaredMahalanobisDistance(const Vector& v) const { return v.dot(v) * invsigma_ * invsigma_; } diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 4c74d9e46..cccca225b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -214,13 +214,13 @@ namespace gtsam { /** * Squared Mahalanobis distance v'*R'*R*v = */ - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; /** * Mahalanobis distance */ virtual double MahalanobisDistance(const Vector& v) const { - return std::sqrt(SquaredMahalanobisDistance(v)); + return std::sqrt(squaredMahalanobisDistance(v)); } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -228,7 +228,7 @@ namespace gtsam { #endif inline virtual double error(const Vector& v) const { - return 0.5 * SquaredMahalanobisDistance(v); + return 0.5 * squaredMahalanobisDistance(v); } /** @@ -580,7 +580,7 @@ namespace gtsam { } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const; + virtual double squaredMahalanobisDistance(const Vector& v) const; virtual Vector whiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const; virtual Matrix Whiten(const Matrix& H) const; @@ -632,7 +632,7 @@ namespace gtsam { virtual bool isUnit() const { return true; } virtual void print(const std::string& name) const; - virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } + virtual double squaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } virtual Vector whiten(const Vector& v) const { return v; } virtual Vector unwhiten(const Vector& v) const { return v; } virtual Matrix Whiten(const Matrix& H) const { return H; } diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index c6fcdd77a..e879731cb 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -71,7 +71,7 @@ TEST(NoiseModel, constructors) // test squared Mahalanobis distance double distance = 5*5+10*10+15*15; for(Gaussian::shared_ptr mi: m) - DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9); + DOUBLES_EQUAL(distance,mi->squaredMahalanobisDistance(unwhitened),1e-9); // test R matrix for(Gaussian::shared_ptr mi: m) From d86bab0e7dc8f9a16cda03cf69f0869cbbb37372 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:04:31 -0400 Subject: [PATCH 007/120] re-add implemntation for deprecated Mahalanobis --- gtsam/linear/NoiseModel.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index cccca225b..2badad838 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -224,7 +224,9 @@ namespace gtsam { } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double Mahalanobis(const Vector& v) const; + virtual double Mahalanobis(const Vector& v) const { + return squaredMahalanobisDistance(v); + } #endif inline virtual double error(const Vector& v) const { From 12b0267ab7d9cdc8a61dd5da5c442fd89752cf25 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Thu, 2 Apr 2020 11:08:58 -0400 Subject: [PATCH 008/120] renamed mahalanobisDistance --- gtsam/linear/NoiseModel.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 2badad838..627c0de2b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -219,7 +219,7 @@ namespace gtsam { /** * Mahalanobis distance 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zJWIS%$G(a;$;o5V1HE}Iy=)7KNGqPtTyc~A<;~#aq`Xvx5>OgGKX^D2tNl7|ysNbU5iT=hxYn*#9(U1= zsQl)je2npt8Qo2M0bKR1JE{;zDRM*D2ZbNlY^JeMxi6^P$-bo$7$M?1fp+ZCV0{dz7{iq)2AqY^xW^9qTWK%S{U>EtXX+pMnc%(m;--_H>l`Ojn zg_w_)IrzWEF7S)ACb^yxnm-qCO65u9g;Fs-bPR^ff>vXdLdNIrB<%i0#g#NoSAt}B zi9WxHY^B+h4lbgoMo2#r{{hVzSSU(YslhV>vEZ0+~-NrLCLfTsyANl|ftj_C; z$8x>4&U)HgN;1-Ag!Qt`;9IrCp5L@@OIjCHs*!2&eq#HaRxP<&lBf^L*RP&{LC&9_>R*NXJXpTK!@PH6P$je4 zJ4$GD3E%%}bnNIKwBOgyGyeyi;Xf4Nf1@iR9{_@rxvh=p2h9MW5#?cJVP#HTC^V^%YPBJ4geYzh{nfI*4Fs{J61tOOoK_>*~$uRXk+t1Nzka6nL7eLZaZU> zk8}or8pOfzqZ)vX2?zqRbF*@=GqN&qFanuCEKIB{0G Date: Fri, 3 Apr 2020 14:04:02 -0400 Subject: [PATCH 010/120] noise in robust should be gaussian, change variable names --- gtsam/linear/LossFunctions.cpp | 74 +++++++++++++++++----------------- gtsam/linear/LossFunctions.h | 40 +++++++++--------- gtsam/linear/NoiseModel.cpp | 7 ++++ gtsam/linear/NoiseModel.h | 13 +++--- 4 files changed, 71 insertions(+), 63 deletions(-) diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp index 8bb670a92..45ad14f0f 100644 --- a/gtsam/linear/LossFunctions.cpp +++ b/gtsam/linear/LossFunctions.cpp @@ -137,12 +137,12 @@ Fair::Fair(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } } -double Fair::weight(double error) const { - return 1.0 / (1.0 + std::abs(error) / c_); +double Fair::weight(double distance) const { + return 1.0 / (1.0 + std::abs(distance) / c_); } -double Fair::loss(double error) const { - const double absError = std::abs(error); +double Fair::loss(double distance) const { + const double absError = std::abs(distance); const double normalizedError = absError / c_; const double c_2 = c_ * c_; return c_2 * (normalizedError - std::log1p(normalizedError)); @@ -170,15 +170,15 @@ Huber::Huber(double k, const ReweightScheme reweight) : Base(reweight), k_(k) { } } -double Huber::weight(double error) const { - const double absError = std::abs(error); +double Huber::weight(double distance) const { + const double absError = std::abs(distance); return (absError <= k_) ? (1.0) : (k_ / absError); } -double Huber::loss(double error) const { - const double absError = std::abs(error); +double Huber::loss(double distance) const { + const double absError = std::abs(distance); if (absError <= k_) { // |x| <= k - return error*error / 2; + return distance*distance / 2; } else { // |x| > k return k_ * (absError - (k_/2)); } @@ -208,12 +208,12 @@ Cauchy::Cauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), } } -double Cauchy::weight(double error) const { - return ksquared_ / (ksquared_ + error*error); +double Cauchy::weight(double distance) const { + return ksquared_ / (ksquared_ + distance*distance); } -double Cauchy::loss(double error) const { - const double val = std::log1p(error * error / ksquared_); +double Cauchy::loss(double distance) const { + const double val = std::log1p(distance * distance / ksquared_); return ksquared_ * val * 0.5; } @@ -241,18 +241,18 @@ Tukey::Tukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), c } } -double Tukey::weight(double error) const { - if (std::abs(error) <= c_) { - const double one_minus_xc2 = 1.0 - error*error/csquared_; +double Tukey::weight(double distance) const { + if (std::abs(distance) <= c_) { + const double one_minus_xc2 = 1.0 - distance*distance/csquared_; return one_minus_xc2 * one_minus_xc2; } return 0.0; } -double Tukey::loss(double error) const { - double absError = std::abs(error); +double Tukey::loss(double distance) const { + double absError = std::abs(distance); if (absError <= c_) { - const double one_minus_xc2 = 1.0 - error*error/csquared_; + const double one_minus_xc2 = 1.0 - distance*distance/csquared_; const double t = one_minus_xc2*one_minus_xc2*one_minus_xc2; return csquared_ * (1 - t) / 6.0; } else { @@ -280,13 +280,13 @@ Tukey::shared_ptr Tukey::Create(double c, const ReweightScheme reweight) { Welsch::Welsch(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {} -double Welsch::weight(double error) const { - const double xc2 = (error*error)/csquared_; +double Welsch::weight(double distance) const { + const double xc2 = (distance*distance)/csquared_; return std::exp(-xc2); } -double Welsch::loss(double error) const { - const double xc2 = (error*error)/csquared_; +double Welsch::loss(double distance) const { + const double xc2 = (distance*distance)/csquared_; return csquared_ * 0.5 * -std::expm1(-xc2); } @@ -311,16 +311,16 @@ GemanMcClure::GemanMcClure(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } -double GemanMcClure::weight(double error) const { +double GemanMcClure::weight(double distance) const { const double c2 = c_*c_; const double c4 = c2*c2; - const double c2error = c2 + error*error; + const double c2error = c2 + distance*distance; return c4/(c2error*c2error); } -double GemanMcClure::loss(double error) const { +double GemanMcClure::loss(double distance) const { const double c2 = c_*c_; - const double error2 = error*error; + const double error2 = distance*distance; return 0.5 * (c2 * error2) / (c2 + error2); } @@ -345,8 +345,8 @@ DCS::DCS(double c, const ReweightScheme reweight) : Base(reweight), c_(c) { } -double DCS::weight(double error) const { - const double e2 = error*error; +double DCS::weight(double distance) const { + const double e2 = distance*distance; if (e2 > c_) { const double w = 2.0*c_/(c_ + e2); @@ -356,10 +356,10 @@ double DCS::weight(double error) const { return 1.0; } -double DCS::loss(double error) const { +double DCS::loss(double distance) const { // This is the simplified version of Eq 9 from (Agarwal13icra) // after you simplify and cancel terms. - const double e2 = error*error; + const double e2 = distance*distance; const double e4 = e2*e2; const double c2 = c_*c_; @@ -391,17 +391,17 @@ L2WithDeadZone::L2WithDeadZone(double k, const ReweightScheme reweight) } } -double L2WithDeadZone::weight(double error) const { +double L2WithDeadZone::weight(double distance) const { // note that this code is slightly uglier than residual, because there are three distinct // cases to handle (left of deadzone, deadzone, right of deadzone) instead of the two // cases (deadzone, non-deadzone) in residual. - if (std::abs(error) <= k_) return 0.0; - else if (error > k_) return (-k_+error)/error; - else return (k_+error)/error; + if (std::abs(distance) <= k_) return 0.0; + else if (distance > k_) return (-k_+distance)/distance; + else return (k_+distance)/distance; } -double L2WithDeadZone::loss(double error) const { - const double abs_error = std::abs(error); +double L2WithDeadZone::loss(double distance) const { + const double abs_error = std::abs(distance); return (abs_error < k_) ? 0.0 : 0.5*(k_-abs_error)*(k_-abs_error); } diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index 1b6f444e8..8d569a5df 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -80,10 +80,10 @@ class GTSAM_EXPORT Base { * functions. It would be better for this function to accept the vector and * internally call the norm if necessary. */ - virtual double loss(double error) const { return 0; }; + virtual double loss(double distance) const { return 0; }; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - virtual double residual(double error) const { return loss(error); }; + virtual double residual(double distance) const { return loss(distance); }; #endif /* * This method is responsible for returning the weight function for a given @@ -93,12 +93,12 @@ class GTSAM_EXPORT Base { * for details. This method is required when optimizing cost functions with * robust penalties using iteratively re-weighted least squares. */ - virtual double weight(double error) const = 0; + virtual double weight(double distance) const = 0; virtual void print(const std::string &s) const = 0; virtual bool equals(const Base &expected, double tol = 1e-8) const = 0; - double sqrtWeight(double error) const { return std::sqrt(weight(error)); } + double sqrtWeight(double distance) const { return std::sqrt(weight(distance)); } /** produce a weight vector according to an error vector and the implemented * robust function */ @@ -157,8 +157,8 @@ class GTSAM_EXPORT Fair : public Base { typedef boost::shared_ptr shared_ptr; Fair(double c = 1.3998, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double c, const ReweightScheme reweight = Block); @@ -182,8 +182,8 @@ class GTSAM_EXPORT Huber : public Base { typedef boost::shared_ptr shared_ptr; Huber(double k = 1.345, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -212,8 +212,8 @@ class GTSAM_EXPORT Cauchy : public Base { typedef boost::shared_ptr shared_ptr; Cauchy(double k = 0.1, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -237,8 +237,8 @@ class GTSAM_EXPORT Tukey : public Base { typedef boost::shared_ptr shared_ptr; Tukey(double c = 4.6851, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -262,8 +262,8 @@ class GTSAM_EXPORT Welsch : public Base { typedef boost::shared_ptr shared_ptr; Welsch(double c = 2.9846, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -298,8 +298,8 @@ class GTSAM_EXPORT GemanMcClure : public Base { GemanMcClure(double c = 1.0, const ReweightScheme reweight = Block); ~GemanMcClure() {} - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -328,8 +328,8 @@ class GTSAM_EXPORT DCS : public Base { DCS(double c = 1.0, const ReweightScheme reweight = Block); ~DCS() {} - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); @@ -361,8 +361,8 @@ class GTSAM_EXPORT L2WithDeadZone : public Base { typedef boost::shared_ptr shared_ptr; L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block); - double weight(double error) const override; - double loss(double error) const override; + double weight(double distance) const override; + double loss(double distance) const override; void print(const std::string &s) const override; bool equals(const Base &expected, double tol = 1e-8) const override; static shared_ptr Create(double k, const ReweightScheme reweight = Block); diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index e0ca3726b..5855ecad4 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -654,6 +654,13 @@ void Robust::WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const{ robust_->reweight(A1,A2,A3,b); } +Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, + const noiseModel::Base::shared_ptr noise) { + SharedGaussian gaussian; + gaussian = boost::dynamic_pointer_cast(noise); + return shared_ptr(new Robust(robust, gaussian)); +} + Robust::shared_ptr Robust::Create( const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ return shared_ptr(new Robust(robust,noise)); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 627c0de2b..dff94c874 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -90,7 +90,7 @@ namespace gtsam { /// Unwhiten an error vector. virtual Vector unwhiten(const Vector& v) const = 0; - /// calculate the error value given error vector + /// calculate the error value given measurement error vector virtual double error(const Vector& v) const = 0; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 @@ -677,7 +677,7 @@ namespace gtsam { protected: typedef mEstimator::Base RobustModel; - typedef noiseModel::Base NoiseModel; + typedef noiseModel::Gaussian NoiseModel; const RobustModel::shared_ptr robust_; ///< robust error function used const NoiseModel::shared_ptr noise_; ///< noise model used @@ -712,9 +712,7 @@ namespace gtsam { { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } // Fold the use of the m-estimator loss(...) function into error(...) inline virtual double error(const Vector& v) const - { return robust_->loss(this->unweightedWhiten(v).norm()); } - // inline virtual double distance_non_whitened(const Vector& v) const - // { return robust_->loss(v.norm()); } + { return robust_->loss(noise_->mahalanobisDistance(v)); } // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; virtual void WhitenSystem(std::vector& A, Vector& b) const; @@ -723,13 +721,16 @@ namespace gtsam { virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; virtual Vector unweightedWhiten(const Vector& v) const { - return noise_->unweightedWhiten(v); + return noise_->whiten(v); } virtual double weight(const Vector& v) const { // Todo(mikebosse): make the robust weight function input a vector. return robust_->weight(v.norm()); } + static shared_ptr Create( + const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise); + static shared_ptr Create( const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); From efc264d8ee3c4704471488c982b768c1dccd57c4 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 14:20:44 -0400 Subject: [PATCH 011/120] revised comments --- gtsam/linear/NoiseModel.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index dff94c874..7349f6304 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -229,6 +229,9 @@ namespace gtsam { } #endif + /** + * error value 0.5 * v'*R'*R*v + */ inline virtual double error(const Vector& v) const { return 0.5 * squaredMahalanobisDistance(v); } @@ -478,7 +481,7 @@ namespace gtsam { } /** - * The distance function for a constrained noisemodel, + * The error function for a constrained noisemodel, * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ From 90b286f553fc7a5fa3f6951a60181365a0ffd1b6 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 14:46:17 -0400 Subject: [PATCH 012/120] change test cases to use the updated names, remove 2nd Create in robust --- gtsam/linear/NoiseModel.cpp | 8 +-- gtsam/linear/NoiseModel.h | 4 +- gtsam/linear/tests/testNoiseModel.cpp | 72 +++++++++++++-------------- 3 files changed, 42 insertions(+), 42 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 5855ecad4..206cab3b1 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -661,10 +661,10 @@ Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, return shared_ptr(new Robust(robust, gaussian)); } -Robust::shared_ptr Robust::Create( - const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ - return shared_ptr(new Robust(robust,noise)); -} +// Robust::shared_ptr Robust::Create( +// const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ +// return shared_ptr(new Robust(robust,noise)); +// } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 7349f6304..c8e0e78a5 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -734,8 +734,8 @@ namespace gtsam { static shared_ptr Create( const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise); - static shared_ptr Create( - const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); + // static shared_ptr Create( + // const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); private: /** Serialization function */ diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index d6b133b98..dd1d46b42 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -451,7 +451,7 @@ TEST(NoiseModel, WhitenInPlace) /* * These tests are responsible for testing the weight functions for the m-estimators in GTSAM. - * The weight function is related to the analytic derivative of the residual function. See + * The weight function is related to the analytic derivative of the loss function. See * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf * for details. This weight function is required when optimizing cost functions with robust * penalties using iteratively re-weighted least squares. @@ -467,10 +467,10 @@ TEST(NoiseModel, robustFunctionFair) DOUBLES_EQUAL(0.3333333333333333, fair->weight(error3), 1e-8); DOUBLES_EQUAL(0.8333333333333333, fair->weight(error4), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error1), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error2), 1e-8); - DOUBLES_EQUAL(22.534692783297260, fair->residual(error3), 1e-8); - DOUBLES_EQUAL(0.441961080151135, fair->residual(error4), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error1), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error2), 1e-8); + DOUBLES_EQUAL(22.534692783297260, fair->loss(error3), 1e-8); + DOUBLES_EQUAL(0.441961080151135, fair->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionHuber) @@ -483,10 +483,10 @@ TEST(NoiseModel, robustFunctionHuber) DOUBLES_EQUAL(0.5, huber->weight(error3), 1e-8); DOUBLES_EQUAL(1.0, huber->weight(error4), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error1), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error2), 1e-8); - DOUBLES_EQUAL(37.5000, huber->residual(error3), 1e-8); - DOUBLES_EQUAL(0.5000, huber->residual(error4), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error1), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error2), 1e-8); + DOUBLES_EQUAL(37.5000, huber->loss(error3), 1e-8); + DOUBLES_EQUAL(0.5000, huber->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionCauchy) @@ -499,10 +499,10 @@ TEST(NoiseModel, robustFunctionCauchy) DOUBLES_EQUAL(0.2000, cauchy->weight(error3), 1e-8); DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error1), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error2), 1e-8); - DOUBLES_EQUAL(20.117973905426254, cauchy->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490258914416017, cauchy->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error2), 1e-8); + DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionGemanMcClure) @@ -514,10 +514,10 @@ TEST(NoiseModel, robustFunctionGemanMcClure) DOUBLES_EQUAL(9.80296e-5, gmc->weight(error3), 1e-8); DOUBLES_EQUAL(0.25 , gmc->weight(error4), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error1), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error2), 1e-8); - DOUBLES_EQUAL(0.495049504950495, gmc->residual(error3), 1e-8); - DOUBLES_EQUAL(0.2500, gmc->residual(error4), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error1), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error2), 1e-8); + DOUBLES_EQUAL(0.495049504950495, gmc->loss(error3), 1e-8); + DOUBLES_EQUAL(0.2500, gmc->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionWelsch) @@ -530,10 +530,10 @@ TEST(NoiseModel, robustFunctionWelsch) DOUBLES_EQUAL(0.018315638888734, welsch->weight(error3), 1e-8); DOUBLES_EQUAL(0.960789439152323, welsch->weight(error4), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error1), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error2), 1e-8); - DOUBLES_EQUAL(12.271054513890823, welsch->residual(error3), 1e-8); - DOUBLES_EQUAL(0.490132010595960, welsch->residual(error4), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error1), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error2), 1e-8); + DOUBLES_EQUAL(12.271054513890823, welsch->loss(error3), 1e-8); + DOUBLES_EQUAL(0.490132010595960, welsch->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionTukey) @@ -546,10 +546,10 @@ TEST(NoiseModel, robustFunctionTukey) DOUBLES_EQUAL(0.0, tukey->weight(error3), 1e-8); DOUBLES_EQUAL(0.9216, tukey->weight(error4), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error1), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error2), 1e-8); - DOUBLES_EQUAL(4.166666666666667, tukey->residual(error3), 1e-8); - DOUBLES_EQUAL(0.480266666666667, tukey->residual(error4), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error2), 1e-8); + DOUBLES_EQUAL(4.166666666666667, tukey->loss(error3), 1e-8); + DOUBLES_EQUAL(0.480266666666667, tukey->loss(error4), 1e-8); } TEST(NoiseModel, robustFunctionDCS) @@ -560,8 +560,8 @@ TEST(NoiseModel, robustFunctionDCS) DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8); DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8); - DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8); - DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8); + DOUBLES_EQUAL(0.5 , dcs->loss(error1), 1e-8); + DOUBLES_EQUAL(0.9900990099, dcs->loss(error2), 1e-8); } TEST(NoiseModel, robustFunctionL2WithDeadZone) @@ -576,12 +576,12 @@ TEST(NoiseModel, robustFunctionL2WithDeadZone) DOUBLES_EQUAL(0.00990099009, lsdz->weight(e4), 1e-8); DOUBLES_EQUAL(0.9, lsdz->weight(e5), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e0), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e1), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e2), 1e-8); - DOUBLES_EQUAL(0.0, lsdz->residual(e3), 1e-8); - DOUBLES_EQUAL(0.00005, lsdz->residual(e4), 1e-8); - DOUBLES_EQUAL(40.5, lsdz->residual(e5), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e0), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e1), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e2), 1e-8); + DOUBLES_EQUAL(0.0, lsdz->loss(e3), 1e-8); + DOUBLES_EQUAL(0.00005, lsdz->loss(e4), 1e-8); + DOUBLES_EQUAL(40.5, lsdz->loss(e5), 1e-8); } /* ************************************************************************* */ @@ -665,11 +665,11 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone) /* * TODO(mike): There is currently a bug in GTSAM, where none of the mEstimator classes - * implement a residual function, and GTSAM calls the weight function to evaluate the - * total penalty, rather than calling the residual function. The weight function should be + * implement a loss function, and GTSAM calls the weight function to evaluate the + * total penalty, rather than calling the loss function. The weight function should be * used during iteratively reweighted least squares optimization, but should not be used to * evaluate the total penalty. The long-term solution is for all mEstimators to implement - * both a weight and a residual function, and for GTSAM to call the residual function when + * both a weight and a loss function, and for GTSAM to call the loss function when * evaluating the total penalty. This bug causes the test below to fail, so I'm leaving it * commented out until the underlying bug in GTSAM is fixed. * From 3f8bb104053a3d1451c9d03878f310aa53b1c84e Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 5 Apr 2020 18:44:56 -0400 Subject: [PATCH 013/120] modified document, remove commented function, add deprecated distance --- doc/robust.pdf | Bin 197566 -> 197679 bytes gtsam/linear/NoiseModel.cpp | 5 ----- gtsam/linear/NoiseModel.h | 12 ++++++++---- 3 files changed, 8 insertions(+), 9 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index 3404719b492e481bb77b96853eea0fa3a2fc39ba..ef8dc6fe624ef0af97973b383042940993273752 100644 GIT binary patch delta 2581 zcmbuB`9Bj51IKN1-$%J}tTG|Bi_J=7aurcx`1W0Fvr#?H2^FTfrYKj|q&bqucbHr5 z9GNQ;5$cPm_)4zOG{^IOJwH6J*Yo`Pe13SpUZ3}0@NP|%EoaK6LJ=r51`M?aUjf5m z7#J9CW(FpJq0V6V-_`~UN5Ehh6EM^X{5M?xmS`jbUP*)it{@Qz@c#^Y&Ki8h+=q;y z5-}!7D$I&r1cSklWFHKfXhI|+&?GX23OAu(C}af6 z42_|nGd=+f&&Xd^{G;-KH8(!Se(xE0c;^^1(;w8Y3OZ-2A*Xod8kCuQQ6eoQ!FwGF zQkkPa#8>pnCO^}=r6!QXCtrhZGiaL?xFgu#-eZ@c0L<> zL<1RzgjD}1NxtkO^mDV5Mxt+BeZc2L=ZFKk_^f#fXr!Un%bh~griQRJ zT-5u53K&xHgL+B@k|WDmW30FvoU&siXb|D)eqEJu_*t3z!j*l0)~32c%^9BWfWc8M z=Z+Kbcs4!f6(Lku)g;pmI64gTiU}sV{V^BW&xC8%ait^^w*OH}O)lB#rb0Zhq2A{O zEgu6Dxc;*!SH6Lv-=}Z~oP{yB07ADuDxKz~5Y^BbE5n}V)ejIBpr_SNh5K8)3(u#G zpbot^T}DJs;X6^1av#jf!k)kM^V`bZnmd9f(C=JoBJ3-NXTdLgx}Jh&)~s1J83jD4 zPD(L_8x$v{pX!N9LKzh$k{PR3Z5^U7FDMFD>W7r?;;zBON<=u_iOOoC_Yrrip zP0#!04yr#+ry9@U+iS-iui>OuV+WR(cI~nW9W&o#i#kqB-F{0bvdm}TpSGM9V#J3W z>2vj2%6r@vCmrYO|4h&J6SGUli{@Jtq_U+UQCCS#eo{k{9GjXUXLTz@q9-ctm*qi% zi)5vqjf;TdnJ=)7Us6K)Jv|Ve7aHt7?sIP8O+3NSD#c@R^!JHag3UAJ=_@k+CzA?7 zLZZ~eVlpyQPLBrbYEcjD@zzXaMGkHO=rOnBDwc2~t@y9eB~_3F->}f?QB!7CLH&A!A8yi!El(k^(ZA zxd4xnAXEP~7mE4$GK{0jk~%$WQl&EUj`8!Z7cqaefPLcffwy9(- zE7ADvNkz6OY;iKC^oBQcDnZAwpat|>U_#xU1|LB1;-^g&oR{D+Iwk|R@MWE5EBo{F zgNcZN=@S?*m`PgnqrdJa!^?Bot2vrK-q=QP&|e?Ib)u!`(hh(9Ud?YdD~Wq#u$-Mdf&xb2XaUon_=^+x{=}@1v0dycKT<+?HmBz?Q_nIq7NJz zr^0aWl#^UAF|Qm)D(6#oydNq%Wur7+)LEj?l$BpC#2x7BzN8D z^524B<87@c>9Hq>PHe5x`W0{d5&4;C6b|bGJ8*sSWk*q~*LZ{2#@BAIIEm<8w>-?W z>3AmhR&ov_QB6kk?y5zVa0FqwSzM-{YyUT z2VJqsZOx$yfvO;=p=;c^#zKwt1mMapc+1o>Xz750bPMqQ_9~Nh&keoin$H4#+y)L8 z4&Qlmyn>s2$vx()>np-X4euhoOp=yb;_x7y4j-|($kN)Wmr9xH;`BVock9ZRa^O#W zwz9ufxG{Rla9#YWgayYeC$QTE%ga5#J%r6H2x`GD7t++7u8n?04BiiX3tZFOhd<7& z(+g^8e6a6OFaBb2xrO|r;;Q~8Ua^SZxI&U_OUZ^K%3WrM>Y<%W6#qlYKm5q6`#GL; zoik%v^~oCMtY2-6e3jlWGCTJjwD@Qt?+}f?RId}m5Oz=-WJW3?;i}#$!Q#Eq3*3}_ zsQ7cA_!l3SaY3kJ%+KTgpg?7QJ`KcV+46B9hsAi*|Q7@yv1tg;Okng5s zIT4}i2RWk2bO1HAM+sE^NUYS!U_hFBL=m?y@t)R6jD^T0LgWB1AacN~8xp1ngb4x( zW8DLQApbda0MIJ{GX1(5D;)^3qyPVjgeCk}dyq*Y0DW72Nr%}G zc$3R{bAozU`Y(VBMXv}fm=kYvs%qCsR_~3dB1|+lvq=SLo4+WlTrQ)zDBT}?U}OkC z*x`$!iW9^0wX%c-5L9Vy;Uoxjx|u9=OE6DHILm1WxxNVk*YBap22lHPo zE^ZDw$B<}nGct3sf)?d!vV9QD6=F2wu|wI&tT~N}DIT(~YFyc^S^Ko>=G(?pzci8e zyWvuCBXlER6o0;iJQDFxB<#30qS)Rt*Y0HCsE&dThaf$C%b~3B>9?B~Bnvzk)0yv2 zOG`!M=|V}4!(q?1-R&Vc_B&71=X#*uqvm6myHrqzHhK-7kFx2?F+VWpnc>jS&;fYK zbT_Spf4y1nu4<ZS*ON)FH;-Mn{2^y6TSsn@2mit`Y!A|&I;MW0$;u%^#)(BnXJ>4xRDy0Ad9bE8s^ z=N=-i`*@eOMAY!3`b}&8*yl;=WGK2LbeVR2(S1!Xm_e>A`t?R2f39k@Hq%S0Cx9>* zdO7cRyq9ur7acmZv++z@p(B|Rp1eR+o^i07bg-?d$YO+}(UW%&^j~sGC%yKvbOUx4 zjYBK@8%_~0aZIvGj|PGxGongWeo>|Hf;rx0AK))`^ZD`D8nIaFJ@ZXVDjCpdrX}N_ zO&;{cc%o{LV7Fb$ejVrNH%Hh%oC|6nPrvXnjHRTawy$$uOY7!ui7}v~r1-kpv^a5( z9DiQ&3c1f<3`AZ*d=Rv+_=A}quf(#LfT$hT)XEkzRv*DxUr@ZpBLmK zZab_f_KV-1dL?Ad=x(xhtxa0_8aeX}%@+s+^PdUePUkvQpsn&X`Nx-r$CEuKn(U|j zj}6Nam-c|)%*C7dhS94AFNeg6q6&SHh~R*|U$QSFE8Is~Ug=f6a<=vFQE$QWEN2H* zsW_RpDt01O1M0#6Rn>x4lfMAI#>ZYJUwRAP+%N)F6U@Io4*OJX;9ls~p=-w5QWZ}0 zcD1Z7i5@pC-MGO~@(?>M75f+Sa4k9-NMY7}19;?DNjTaka<92xjtC!G{^u9{ z;d=3R^sb_z-mauOK|KzjOZHC=It<-tuVL$&gbypSZ0FX0%vY<-?TFp(`e8b|A<4)F zqRR(foKhRi565;@8hy0x*cQ2|xUl`^Kr%%A(nb9Qx+&(Jx$c2X0R&(+0h(zmt5$|%zXb(*f8bKS5jpVrcg%I~+gHR$q2=0kOh2Ix$! 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From efcc5c908eb25290ee29f04b78e672baf40f0000 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 6 Apr 2020 10:10:46 -0400 Subject: [PATCH 016/120] rename residual to loss --- gtsam.h | 18 +++++++++--------- gtsam/linear/LossFunctions.h | 14 +++++++------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam.h b/gtsam.h index 8ee778f4c..1094d9dd9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1458,7 +1458,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { @@ -1469,7 +1469,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { @@ -1480,7 +1480,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { @@ -1491,7 +1491,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { @@ -1502,7 +1502,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class Welsch: gtsam::noiseModel::mEstimator::Base { @@ -1513,7 +1513,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { @@ -1524,7 +1524,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class DCS: gtsam::noiseModel::mEstimator::Base { @@ -1535,7 +1535,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { @@ -1546,7 +1546,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { void serializable() const; double weight(double error) const; - double residual(double error) const; + double loss(double error) const; }; }///\namespace mEstimator diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h index d1c3adb35..6a5dc5a26 100644 --- a/gtsam/linear/LossFunctions.h +++ b/gtsam/linear/LossFunctions.h @@ -36,12 +36,12 @@ namespace noiseModel { * The mEstimator name space contains all robust error functions. * It mirrors the exposition at * https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf - * which talks about minimizing \sum \rho(r_i), where \rho is a residual function of choice. + * which talks about minimizing \sum \rho(r_i), where \rho is a loss function of choice. * * To illustrate, let's consider the least-squares (L2), L1, and Huber estimators as examples: * * Name Symbol Least-Squares L1-norm Huber - * Residual \rho(x) 0.5*x^2 |x| 0.5*x^2 if |x| shared_ptr; @@ -135,7 +135,7 @@ class GTSAM_EXPORT Null : public Base { Null(const ReweightScheme reweight = Block) : Base(reweight) {} ~Null() {} double weight(double /*error*/) const { return 1.0; } - double residual(double error) const { return error; } + double loss(double distance) const { return 0.5 * distance * distance; } void print(const std::string &s) const; bool equals(const Base & /*expected*/, double /*tol*/) const { return true; } static shared_ptr Create(); From c54346cc590a38431e34af954afe6cb311b5c2e3 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Apr 2020 15:17:36 -0400 Subject: [PATCH 017/120] modified document --- doc/robust.pdf | Bin 197679 -> 205572 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index ef8dc6fe624ef0af97973b383042940993273752..45c023384c723a506f5bb48b2bfcab5aa5b338c3 100644 GIT binary patch delta 89002 zcmZ6y1B~EJ^exz$wrxz?wx_3U+jdXezqY4s+qOAv+qP}J@4s(%vu`V@-(ZydO{~plV#;J@%x28R#A?RGZNkjW%Fe`UXlBf1Y+}sJ#cj+iz-P$H#=>dJ z$%Spg%Eivi!D`CM!e(m7YQ|#1!p+9Q!Ns1i3rZk$(Q9LjJnBv`!SEvvACXwem^w@a z4m9qANVxD-9+~i3y9RD2W*t^xZ7G0PowSRyM#g~xR7znASHcpD1veJV*97?8{! zgoBh7aPVIZ4q%a>)Uf{-9(yAzSU$f0uo#+~IuWxo{cngW9uB6&j3S24hBo%*2^K%- z0cB$D|E^TV)Xv=5f|!|=gIGWS*2&q?)X)~zJ=560z`)4B;MT;z&|t^P9NEMVj4317 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zR%YO5`?^DEGgI0RHsP_>C%G%`CN|u6p&&P$bG8vvKHZys5a#x;zy&|io4p2njpbw3LcPDc*5PO;~$}okEBUo;D$#% z=l|cNWo-YyR*oh%|GAo5qJzNBLDLdj!RT5ZuEB~~(ta&~A*24d#6xs2F81U+NbIz6QgC5_lZ5%F1c|PInJJrvF)s(Z1q+WU zI|~W^RqG}xwY8AmsEMZ3kNvGPN fj6OgWjqeCVOuj^ef(U!TTqjF|iKShWfn)wZkuCy` From 1db0f441bcd91878e562c9ad61c1a958be082cf0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 31 May 2020 21:52:13 -0400 Subject: [PATCH 018/120] Added FunctorizedFactor and corresponding tests --- gtsam/linear/NoiseModel.cpp | 1 + gtsam/nonlinear/FunctorizedFactor.h | 123 +++++++++++++++++ .../nonlinear/tests/testFunctorizedFactor.cpp | 127 ++++++++++++++++++ 3 files changed, 251 insertions(+) create mode 100644 gtsam/nonlinear/FunctorizedFactor.h create mode 100644 gtsam/nonlinear/tests/testFunctorizedFactor.cpp diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index d7fd2d1ea..72ca054b4 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -619,6 +619,7 @@ void Isotropic::WhitenInPlace(Eigen::Block H) const { // Unit /* ************************************************************************* */ void Unit::print(const std::string& name) const { + //TODO(Varun): Do we need that space at the end? cout << name << "unit (" << dim_ << ") " << endl; } diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h new file mode 100644 index 000000000..b990ac04f --- /dev/null +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -0,0 +1,123 @@ +/* ---------------------------------------------------------------------------- + + * 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 FunctorizedFactor.h + * @author Varun Agrawal + **/ + +#pragma once + +#include +#include + +#include + +namespace gtsam { + +/** + * Factor which evaluates functor and uses the result to compute + * error on provided measurement. + * The provided FUNCTOR should provide two definitions: `argument_type` which + * corresponds to the type of input it accepts and `return_type` which indicates + * the type of the return value. This factor uses those type values to construct + * the functor. + * + * Template parameters are + * @param FUNCTOR: A class which operates as a functor. + */ +template +class GTSAM_EXPORT FunctorizedFactor + : public NoiseModelFactor1 { +private: + using T = typename FUNCTOR::argument_type; + using Base = NoiseModelFactor1; + + typename FUNCTOR::return_type + measured_; ///< value that is compared with functor return value + SharedNoiseModel noiseModel_; ///< noise model + FUNCTOR func_; ///< functor instance + +public: + /** default constructor - only use for serialization */ + FunctorizedFactor() {} + + /** Construct with given x and the parameters of the basis + * + * @param Args: Variadic template parameter for functor arguments. + * + * @param key: Factor key + * @param z: Measurement object of type FUNCTOR::return_type + * @param model: Noise model + * @param args: Variable number of arguments used to instantiate functor + */ + template + FunctorizedFactor(Key key, const typename FUNCTOR::return_type &z, + const SharedNoiseModel &model, Args &&... args) + : Base(model, key), measured_(z), noiseModel_(model), + func_(std::forward(args)...) {} + + virtual ~FunctorizedFactor() {} + + /// @return a deep copy of this factor + virtual NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); + } + + Vector evaluateError(const T ¶ms, + boost::optional H = boost::none) const { + typename FUNCTOR::return_type x = func_(params, H); + Vector error = traits::Local(measured_, x); + return error; + } + + /// @name Testable + /// @{ + GTSAM_EXPORT friend std::ostream & + operator<<(std::ostream &os, const FunctorizedFactor &f) { + os << " noise model sigmas: " << f.noiseModel_->sigmas().transpose(); + return os; + } + void print(const std::string &s = "", + const KeyFormatter &keyFormatter = DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" + << keyFormatter(this->key()) << ")" << std::endl; + traits::Print(measured_, " measurement: "); + std::cout << *this << std::endl; + } + + virtual bool equals(const NonlinearFactor &other, double tol = 1e-9) + const { + const FunctorizedFactor *e = + dynamic_cast*>(&other); + const bool base = Base::equals(*e, tol); + return e != nullptr && base; + } + /// @} + +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE &ar, const unsigned int /*version*/) { + ar &boost::serialization::make_nvp( + "NoiseModelFactor1", boost::serialization::base_object(*this)); + ar &BOOST_SERIALIZATION_NVP(measured_); + ar &BOOST_SERIALIZATION_NVP(func_); + } +}; + +// TODO(Varun): Include or kill? +// template <> struct traits : public Testable {}; + +} // namespace gtsam diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp new file mode 100644 index 000000000..7536aadc5 --- /dev/null +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -0,0 +1,127 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------1------------------------------------------- + */ + +/** + * @file testFunctorizedFactor.cpp + * @date May 31, 2020 + * @author Varun Agrawal + * @brief unit tests for FunctorizedFactor class + */ + +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +Key keyX = Symbol('X', 0); +auto model = noiseModel::Isotropic::Sigma(3, 1); + +/// Functor that takes a matrix and multiplies every element by m +class MultiplyFunctor { + double m_; ///< simple multiplier + +public: + using argument_type = Matrix; + using return_type = Matrix; + + MultiplyFunctor(double m) : m_(m) {} + + Matrix operator()(const Matrix &X, + OptionalJacobian<-1, -1> H = boost::none) const { + return m_ * X; + } +}; + +TEST(FunctorizedFactor, Identity) { + + Matrix X = Matrix::Identity(3, 3); + + double multiplier = 1.0; + + FunctorizedFactor factor(keyX, X, model, multiplier); + + Values values; + values.insert(keyX, X); + + Matrix error = factor.evaluateError(X); + + EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); +} + +TEST(FunctorizedFactor, Multiply2) { + Matrix X = Matrix::Identity(3, 3); + + double multiplier = 2.0; + + FunctorizedFactor factor(keyX, X, model, multiplier); + + Values values; + values.insert(keyX, X); + + Matrix error = factor.evaluateError(X); + + Matrix expected = Matrix::Identity(3, 3); + expected.resize(9, 1); + EXPECT(assert_equal(expected, error, 1e-9)); +} + +TEST(FunctorizedFactor, Equality) { + Matrix X = Matrix::Identity(2, 2); + + double multiplier = 2.0; + + FunctorizedFactor factor1(keyX, X, model, multiplier); + FunctorizedFactor factor2(keyX, X, model, multiplier); + + EXPECT(factor1.equals(factor2)); +} + +TEST(FunctorizedFactor, Print) { + Matrix X = Matrix::Identity(2, 2); + + double multiplier = 2.0; + + FunctorizedFactor factor(keyX, X, model, multiplier); + + // redirect output to buffer so we can compare + stringstream buffer; + streambuf *old = cout.rdbuf(buffer.rdbuf()); + + factor.print(); + + // get output string and reset stdout + string actual = buffer.str(); + cout.rdbuf(old); + + string expected = " keys = { X0 }\n" + " noise model: unit (3) \n" + "FunctorizedFactor(X0)\n" + " measurement: [\n" + " 1, 0;\n" + " 0, 1\n" + "]\n" + " noise model sigmas: 1 1 1\n"; + + CHECK_EQUAL(expected, actual); +} + +/* ************************************************************************* + */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From 131213a983521b2095f15d3ce0d798645f513538 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 1 Jun 2020 19:52:50 -0400 Subject: [PATCH 019/120] fixes, better tests, docs --- gtsam/nonlinear/FunctorizedFactor.h | 58 +++++++++++------ .../nonlinear/tests/testFunctorizedFactor.cpp | 62 ++++++++++++------- 2 files changed, 78 insertions(+), 42 deletions(-) diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index b990ac04f..03fd47a46 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -10,8 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @file FunctorizedFactor.h - * @author Varun Agrawal + * @file FunctorizedFactor.h + * @date May 31, 2020 + * @author Varun Agrawal **/ #pragma once @@ -26,13 +27,35 @@ namespace gtsam { /** * Factor which evaluates functor and uses the result to compute * error on provided measurement. - * The provided FUNCTOR should provide two definitions: `argument_type` which + * The provided FUNCTOR should provide two type aliases: `argument_type` which * corresponds to the type of input it accepts and `return_type` which indicates * the type of the return value. This factor uses those type values to construct * the functor. * * Template parameters are * @param FUNCTOR: A class which operates as a functor. + * + * Example: + * Key key = Symbol('X', 0); + * + * auto model = noiseModel::Isotropic::Sigma(9, 1); + * /// Functor that takes a matrix and multiplies every element by m + * class MultiplyFunctor { + * double m_; ///< simple multiplier + * public: + * using argument_type = Matrix; + * using return_type = Matrix; + * MultiplyFunctor(double m) : m_(m) {} + * Matrix operator()(const Matrix &X, + * OptionalJacobian<-1, -1> H = boost::none) const { + * if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), X.rows()*X.cols()); + * return m_ * X; + * } + * }; + * + * Matrix measurement = Matrix::Identity(3, 3); + * double multiplier = 2.0; + * FunctorizedFactor factor(keyX, measurement, model, multiplier); */ template class GTSAM_EXPORT FunctorizedFactor @@ -82,27 +105,24 @@ public: /// @name Testable /// @{ - GTSAM_EXPORT friend std::ostream & - operator<<(std::ostream &os, const FunctorizedFactor &f) { - os << " noise model sigmas: " << f.noiseModel_->sigmas().transpose(); - return os; - } void print(const std::string &s = "", const KeyFormatter &keyFormatter = DefaultKeyFormatter) const { Base::print(s, keyFormatter); std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" << keyFormatter(this->key()) << ")" << std::endl; traits::Print(measured_, " measurement: "); - std::cout << *this << std::endl; + std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose() + << std::endl; } - virtual bool equals(const NonlinearFactor &other, double tol = 1e-9) - const { - const FunctorizedFactor *e = - dynamic_cast*>(&other); - const bool base = Base::equals(*e, tol); - return e != nullptr && base; - } + virtual bool equals(const NonlinearFactor &other, double tol = 1e-9) const { + const FunctorizedFactor *e = + dynamic_cast *>(&other); + const bool base = Base::equals(*e, tol); + return e && Base::equals(other, tol) && + traits::Equals(this->measured_, e->measured_, + tol); + } /// @} private: @@ -117,7 +137,9 @@ private: } }; -// TODO(Varun): Include or kill? -// template <> struct traits : public Testable {}; +/// traits +template +struct traits> + : public Testable> {}; } // namespace gtsam diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp index 7536aadc5..9393a4410 100644 --- a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -20,14 +20,15 @@ #include #include #include +#include #include using namespace std; using namespace gtsam; -Key keyX = Symbol('X', 0); -auto model = noiseModel::Isotropic::Sigma(3, 1); +Key key = Symbol('X', 0); +auto model = noiseModel::Isotropic::Sigma(9, 1); /// Functor that takes a matrix and multiplies every element by m class MultiplyFunctor { @@ -41,60 +42,73 @@ public: Matrix operator()(const Matrix &X, OptionalJacobian<-1, -1> H = boost::none) const { + if (H) + *H = m_ * Matrix::Identity(X.rows() * X.cols(), X.rows() * X.cols()); return m_ * X; } }; TEST(FunctorizedFactor, Identity) { - Matrix X = Matrix::Identity(3, 3); + Matrix X = Matrix::Identity(3, 3), measurement = Matrix::Identity(3, 3); double multiplier = 1.0; - FunctorizedFactor factor(keyX, X, model, multiplier); + FunctorizedFactor factor(key, measurement, model, + multiplier); - Values values; - values.insert(keyX, X); - - Matrix error = factor.evaluateError(X); + Vector error = factor.evaluateError(X); EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } TEST(FunctorizedFactor, Multiply2) { - Matrix X = Matrix::Identity(3, 3); - double multiplier = 2.0; + Matrix X = Matrix::Identity(3, 3); + Matrix measurement = multiplier * Matrix::Identity(3, 3); - FunctorizedFactor factor(keyX, X, model, multiplier); + FunctorizedFactor factor(key, measurement, model, multiplier); - Values values; - values.insert(keyX, X); + Vector error = factor.evaluateError(X); - Matrix error = factor.evaluateError(X); - - Matrix expected = Matrix::Identity(3, 3); - expected.resize(9, 1); - EXPECT(assert_equal(expected, error, 1e-9)); + EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } TEST(FunctorizedFactor, Equality) { - Matrix X = Matrix::Identity(2, 2); + Matrix measurement = Matrix::Identity(2, 2); double multiplier = 2.0; - FunctorizedFactor factor1(keyX, X, model, multiplier); - FunctorizedFactor factor2(keyX, X, model, multiplier); + FunctorizedFactor factor1(key, measurement, model, + multiplier); + FunctorizedFactor factor2(key, measurement, model, + multiplier); EXPECT(factor1.equals(factor2)); } +//****************************************************************************** +TEST(FunctorizedFactor, Jacobians) { + Matrix X = Matrix::Identity(3, 3); + Matrix actualH; + + double multiplier = 2.0; + + FunctorizedFactor factor(key, X, model, multiplier); + + Values values; + values.insert(key, X); + + // Check Jacobians + EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); +} + TEST(FunctorizedFactor, Print) { Matrix X = Matrix::Identity(2, 2); double multiplier = 2.0; - FunctorizedFactor factor(keyX, X, model, multiplier); + FunctorizedFactor factor(key, X, model, multiplier); // redirect output to buffer so we can compare stringstream buffer; @@ -107,13 +121,13 @@ TEST(FunctorizedFactor, Print) { cout.rdbuf(old); string expected = " keys = { X0 }\n" - " noise model: unit (3) \n" + " noise model: unit (9) \n" "FunctorizedFactor(X0)\n" " measurement: [\n" " 1, 0;\n" " 0, 1\n" "]\n" - " noise model sigmas: 1 1 1\n"; + " noise model sigmas: 1 1 1 1 1 1 1 1 1\n"; CHECK_EQUAL(expected, actual); } From ea8b319c43ea64b563792c3c2b8d9ccdd298c5cc Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 1 Jun 2020 19:54:04 -0400 Subject: [PATCH 020/120] remove TODO --- gtsam/linear/NoiseModel.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 72ca054b4..d7fd2d1ea 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -619,7 +619,6 @@ void Isotropic::WhitenInPlace(Eigen::Block H) const { // Unit /* ************************************************************************* */ void Unit::print(const std::string& name) const { - //TODO(Varun): Do we need that space at the end? cout << name << "unit (" << dim_ << ") " << endl; } From 0bbb39687f5c1b4f2e34e288786a9acd58a7e17d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 1 Jun 2020 19:55:10 -0400 Subject: [PATCH 021/120] improved documentation --- gtsam/nonlinear/FunctorizedFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index 03fd47a46..82d2f822e 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -37,8 +37,8 @@ namespace gtsam { * * Example: * Key key = Symbol('X', 0); - * * auto model = noiseModel::Isotropic::Sigma(9, 1); + * * /// Functor that takes a matrix and multiplies every element by m * class MultiplyFunctor { * double m_; ///< simple multiplier From d0bd3d87154f411a66e2cd3ca2e537e46f47568e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 2 Jun 2020 15:13:30 -0500 Subject: [PATCH 022/120] removed dependency on Eigen3 since we provide Eigen 3.3.7 and Ubuntu Bionic provides Eigen 3.3.4. --- .../Dockerfile | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) rename docker/{ubuntu-boost-tbb-eigen3 => ubuntu-boost-tbb}/Dockerfile (72%) diff --git a/docker/ubuntu-boost-tbb-eigen3/Dockerfile b/docker/ubuntu-boost-tbb/Dockerfile similarity index 72% rename from docker/ubuntu-boost-tbb-eigen3/Dockerfile rename to docker/ubuntu-boost-tbb/Dockerfile index 33aa1ab96..6dd9dfa62 100644 --- a/docker/ubuntu-boost-tbb-eigen3/Dockerfile +++ b/docker/ubuntu-boost-tbb/Dockerfile @@ -2,7 +2,7 @@ FROM ubuntu:bionic # Update apps on the base image -RUN apt-get -y update && apt-get install -y +RUN apt-get -y update && apt install -y # Install C++ RUN apt-get -y install build-essential @@ -12,7 +12,3 @@ RUN apt-get -y install libboost-all-dev cmake # Install TBB RUN apt-get -y install libtbb-dev - -# Install latest Eigen -RUN apt-get install -y libeigen3-dev - From 92634d152513f1acc8f878421fe17b7c9781b936 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 2 Jun 2020 16:33:57 -0500 Subject: [PATCH 023/120] improve and modernize the Dockerfiles --- docker/ubuntu-boost-tbb/Dockerfile | 9 +++++++-- docker/ubuntu-gtsam-python-vnc/Dockerfile | 8 +++++--- docker/ubuntu-gtsam-python/Dockerfile | 12 +++++++----- docker/ubuntu-gtsam/Dockerfile | 11 ++++++----- 4 files changed, 25 insertions(+), 15 deletions(-) diff --git a/docker/ubuntu-boost-tbb/Dockerfile b/docker/ubuntu-boost-tbb/Dockerfile index 6dd9dfa62..9f6eea3b8 100644 --- a/docker/ubuntu-boost-tbb/Dockerfile +++ b/docker/ubuntu-boost-tbb/Dockerfile @@ -1,11 +1,16 @@ +# Basic Ubuntu 18.04 image with Boost and TBB installed. To be used for building further downstream packages. + # Get the base Ubuntu image from Docker Hub FROM ubuntu:bionic +# Disable GUI prompts +ENV DEBIAN_FRONTEND noninteractive + # Update apps on the base image -RUN apt-get -y update && apt install -y +RUN apt-get -y update && apt-get -y install # Install C++ -RUN apt-get -y install build-essential +RUN apt-get -y install build-essential apt-utils # Install boost and cmake RUN apt-get -y install libboost-all-dev cmake diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile index 83222881a..8b6b97f46 100644 --- a/docker/ubuntu-gtsam-python-vnc/Dockerfile +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -1,16 +1,18 @@ +# This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction. + # Get the base Ubuntu/GTSAM image from Docker Hub FROM dellaert/ubuntu-gtsam-python:bionic # Things needed to get a python GUI ENV DEBIAN_FRONTEND noninteractive -RUN apt-get install -y python-tk +RUN apt install -y python-tk RUN pip install matplotlib # Install a VNC X-server, Frame buffer, and windows manager -RUN apt-get install -y x11vnc xvfb fluxbox +RUN apt install -y x11vnc xvfb fluxbox # Finally, install wmctrl needed for bootstrap script -RUN apt-get install -y wmctrl +RUN apt install -y wmctrl # Copy bootstrap script and make sure it runs COPY bootstrap.sh / diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile index 0c7d131be..a9a9782f4 100644 --- a/docker/ubuntu-gtsam-python/Dockerfile +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -1,29 +1,31 @@ +# GTSAM Ubuntu image with Python wrapper support. + # Get the base Ubuntu/GTSAM image from Docker Hub -FROM dellaert/ubuntu-gtsam:bionic +FROM dellaert/ubuntu-gtsam:latest # Install pip -RUN apt-get install -y python-pip python-dev +RUN apt-get install -y python3-pip python3-dev # Install python wrapper requirements -RUN pip install -r /usr/src/gtsam/cython/requirements.txt +RUN pip3 install -U -r /usr/src/gtsam/cython/requirements.txt # Run cmake again, now with cython toolbox on WORKDIR /usr/src/gtsam/build RUN cmake \ -DCMAKE_BUILD_TYPE=Release \ - -DGTSAM_USE_SYSTEM_EIGEN=ON \ -DGTSAM_WITH_EIGEN_MKL=OFF \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ -DGTSAM_BUILD_TESTS=OFF \ -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \ + -DGTSAM_PYTHON_VERSION=3\ .. # Build again, as ubuntu-gtsam image cleaned RUN make -j3 install && make clean # Needed to run python wrapper: -RUN echo 'export PYTHONPATH=/usr/local/cython/' >> /root/.bashrc +RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc # Run bash CMD ["bash"] diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile index bdfa8d9a5..c09d4b16a 100644 --- a/docker/ubuntu-gtsam/Dockerfile +++ b/docker/ubuntu-gtsam/Dockerfile @@ -1,5 +1,7 @@ +# Ubuntu image with GTSAM installed. Configured with Boost and TBB support. + # Get the base Ubuntu image from Docker Hub -FROM dellaert/ubuntu-boost-tbb-eigen3:bionic +FROM dellaert/ubuntu-boost-tbb:latest # Install git RUN apt-get update && \ @@ -11,13 +13,12 @@ RUN apt-get install -y build-essential # Clone GTSAM WORKDIR /usr/src/ RUN git clone https://bitbucket.org/gtborg/gtsam.git +RUN mkdir build # Run cmake -RUN mkdir /usr/src/gtsam/build WORKDIR /usr/src/gtsam/build RUN cmake \ -DCMAKE_BUILD_TYPE=Release \ - -DGTSAM_USE_SYSTEM_EIGEN=ON \ -DGTSAM_WITH_EIGEN_MKL=OFF \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_TIMING_ALWAYS=OFF \ @@ -26,10 +27,10 @@ RUN cmake \ .. # Build -RUN make -j3 install && make clean +RUN make -j4 install && make clean # Needed to link with GTSAM -RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib' >> /root/.bashrc +RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc # Run bash CMD ["bash"] From 8b66960a42d30cb8dfb0e3a7be08e76f9fcfec30 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 2 Jun 2020 17:02:14 -0500 Subject: [PATCH 024/120] small logistical fixes --- docker/ubuntu-gtsam-python-vnc/Dockerfile | 2 +- docker/ubuntu-gtsam-python/Dockerfile | 4 ++-- docker/ubuntu-gtsam/Dockerfile | 8 ++++---- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile index 8b6b97f46..26f995c56 100644 --- a/docker/ubuntu-gtsam-python-vnc/Dockerfile +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -1,7 +1,7 @@ # This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction. # Get the base Ubuntu/GTSAM image from Docker Hub -FROM dellaert/ubuntu-gtsam-python:bionic +FROM dellaert/ubuntu-gtsam-python:latest # Things needed to get a python GUI ENV DEBIAN_FRONTEND noninteractive diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile index a9a9782f4..71787d480 100644 --- a/docker/ubuntu-gtsam-python/Dockerfile +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -7,7 +7,7 @@ FROM dellaert/ubuntu-gtsam:latest RUN apt-get install -y python3-pip python3-dev # Install python wrapper requirements -RUN pip3 install -U -r /usr/src/gtsam/cython/requirements.txt +RUN python3 -m pip install -U -r /usr/src/gtsam/cython/requirements.txt # Run cmake again, now with cython toolbox on WORKDIR /usr/src/gtsam/build @@ -22,7 +22,7 @@ RUN cmake \ .. # Build again, as ubuntu-gtsam image cleaned -RUN make -j3 install && make clean +RUN make -j4 install && make clean # Needed to run python wrapper: RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile index c09d4b16a..393443361 100644 --- a/docker/ubuntu-gtsam/Dockerfile +++ b/docker/ubuntu-gtsam/Dockerfile @@ -10,13 +10,13 @@ RUN apt-get update && \ # Install compiler RUN apt-get install -y build-essential -# Clone GTSAM +# Clone GTSAM (develop branch) WORKDIR /usr/src/ -RUN git clone https://bitbucket.org/gtborg/gtsam.git -RUN mkdir build +RUN git clone --single-branch --branch develop https://github.com/borglab/gtsam.git -# Run cmake +# Change to build directory. Will be created automatically. WORKDIR /usr/src/gtsam/build +# Run cmake RUN cmake \ -DCMAKE_BUILD_TYPE=Release \ -DGTSAM_WITH_EIGEN_MKL=OFF \ From 1725a577cf881ae5478dbe08cef19b4b3f5a4f55 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 21 Mar 2020 14:52:17 -0400 Subject: [PATCH 025/120] cmake function to install python package once make install is completed --- cmake/GtsamCythonWrap.cmake | 7 +++++++ cython/CMakeLists.txt | 2 ++ 2 files changed, 9 insertions(+) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index f1382729f..3ca8b903f 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -279,3 +279,10 @@ function(install_cython_files source_files dest_directory) endfunction() +function(install_python_package install_path) + set(package_path "${install_path}${GTSAM_BUILD_TAG}") + # set cython directory permissions to user so we don't get permission denied + install(CODE "execute_process(COMMAND sh \"-c\" \"chown -R $(logname):$(logname) ${package_path}\")") + # go to cython directory and run setup.py + install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")") +endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 4cc9d2f5d..96503b82f 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,4 +45,6 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + install_python_package("${GTSAM_CYTHON_INSTALL_PATH}") + endif () From 93a00a38a40a21e21a1c20da9209192a7076fc85 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 22 Jun 2020 20:14:03 -0500 Subject: [PATCH 026/120] add new make command for installing python wrapper --- cmake/GtsamCythonWrap.cmake | 17 ++++++++++++----- cython/CMakeLists.txt | 3 +++ cython/scripts/install.bat | 0 cython/scripts/install.sh | 21 +++++++++++++++++++++ 4 files changed, 36 insertions(+), 5 deletions(-) create mode 100755 cython/scripts/install.bat create mode 100755 cython/scripts/install.sh diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 3ca8b903f..361038ce0 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -280,9 +280,16 @@ function(install_cython_files source_files dest_directory) endfunction() function(install_python_package install_path) - set(package_path "${install_path}${GTSAM_BUILD_TAG}") - # set cython directory permissions to user so we don't get permission denied - install(CODE "execute_process(COMMAND sh \"-c\" \"chown -R $(logname):$(logname) ${package_path}\")") - # go to cython directory and run setup.py - install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")") +#TODO this will only work for Linux. Need to make it work on macOS and Windows as well +#TODO Running `sudo make install` makes this run in admin space causing Python 2.7 to be picked up. + # # go to cython directory and run setup.py + # install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")") + if(CMAKE_SYSTEM_NAME STREQUAL "Windows") + set(PYTHON_INSTALL_SCRIPT "install.bat") + elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin") + set(PYTHON_INSTALL_SCRIPT "install.sh") + endif() + + configure_file(${PROJECT_SOURCE_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT} ${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}) + add_custom_target(python-install "${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}") endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 96503b82f..638bdfb2d 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,6 +45,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + # file(GLOB GTSAM_PYTHON_INSTALL_SCRIPTS "scripts/*") + # file(COPY ${GTSAM_PYTHON_INSTALL_SCRIPTS} DESTINATION ${PROJECT_BINARY_DIR}/cython/scripts) + install_python_package("${GTSAM_CYTHON_INSTALL_PATH}") endif () diff --git a/cython/scripts/install.bat b/cython/scripts/install.bat new file mode 100755 index 000000000..e69de29bb diff --git a/cython/scripts/install.sh b/cython/scripts/install.sh new file mode 100755 index 000000000..04759ca5e --- /dev/null +++ b/cython/scripts/install.sh @@ -0,0 +1,21 @@ +#!/bin/sh +echo "Installing GTSAM Python Wrapper" + +PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} + +if [ ! -d "$PACKAGE_PATH" ] +then + echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; + exit 1; +fi + +# set cython directory permissions to user so we don't get permission denied +if [ "$(whoami)" != "root" ] +then + sudo chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} +else + chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} +fi + +echo "Running setup.py in $PACKAGE_PATH" +${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install From ca46ebfda81d8b54b1098cce83a41f0c664ee8b8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 22 Jun 2020 20:20:50 -0500 Subject: [PATCH 027/120] added comments and removed unnecessary code --- cmake/GtsamCythonWrap.cmake | 8 ++++---- cython/CMakeLists.txt | 3 --- cython/scripts/install.sh | 10 +++++++++- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 361038ce0..4cd061852 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -280,16 +280,16 @@ function(install_cython_files source_files dest_directory) endfunction() function(install_python_package install_path) -#TODO this will only work for Linux. Need to make it work on macOS and Windows as well -#TODO Running `sudo make install` makes this run in admin space causing Python 2.7 to be picked up. - # # go to cython directory and run setup.py - # install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")") + # Select the correct install script based on the OS if(CMAKE_SYSTEM_NAME STREQUAL "Windows") set(PYTHON_INSTALL_SCRIPT "install.bat") elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin") set(PYTHON_INSTALL_SCRIPT "install.sh") endif() + # Configure the variables in the script configure_file(${PROJECT_SOURCE_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT} ${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}) + + # Add the new make target command add_custom_target(python-install "${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}") endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 638bdfb2d..96503b82f 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,9 +45,6 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - # file(GLOB GTSAM_PYTHON_INSTALL_SCRIPTS "scripts/*") - # file(COPY ${GTSAM_PYTHON_INSTALL_SCRIPTS} DESTINATION ${PROJECT_BINARY_DIR}/cython/scripts) - install_python_package("${GTSAM_CYTHON_INSTALL_PATH}") endif () diff --git a/cython/scripts/install.sh b/cython/scripts/install.sh index 04759ca5e..8e409803d 100755 --- a/cython/scripts/install.sh +++ b/cython/scripts/install.sh @@ -1,15 +1,22 @@ #!/bin/sh + +# This script runs the installation flow for python wrapped GTSAM. +# It does so by first setting the correct ownership permissions on the package directory, +# and then running `python setup.py install` to install the wrapped package. + echo "Installing GTSAM Python Wrapper" +# Set the package path PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} +# Check if package directory exists. If not, print warning and exit. if [ ! -d "$PACKAGE_PATH" ] then echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; exit 1; fi -# set cython directory permissions to user so we don't get permission denied +# Set cython directory permissions to user so we don't get permission denied if [ "$(whoami)" != "root" ] then sudo chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} @@ -17,5 +24,6 @@ else chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} fi +# Run setup.py install with full paths echo "Running setup.py in $PACKAGE_PATH" ${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install From 6972a5c9a70e5ff8eaa3f8b5b0f9392c2829a195 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 11:06:01 -0500 Subject: [PATCH 028/120] updated comments in shell script --- cython/scripts/install.sh | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/cython/scripts/install.sh b/cython/scripts/install.sh index 8e409803d..fdf86f130 100755 --- a/cython/scripts/install.sh +++ b/cython/scripts/install.sh @@ -11,12 +11,13 @@ PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} # Check if package directory exists. If not, print warning and exit. if [ ! -d "$PACKAGE_PATH" ] -then +then echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; exit 1; fi -# Set cython directory permissions to user so we don't get permission denied +# Set cython directory permissions to user so we don't get permission denied. +# This also works inside Docker containers. if [ "$(whoami)" != "root" ] then sudo chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} @@ -24,6 +25,6 @@ else chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} fi -# Run setup.py install with full paths +# Run setup.py install with full paths. echo "Running setup.py in $PACKAGE_PATH" ${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install From 530016edf00e9a56cbdb4de27ce612580337a66a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 11:06:35 -0500 Subject: [PATCH 029/120] added Windows batch script to install python wrapped package --- cython/scripts/install.bat | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/cython/scripts/install.bat b/cython/scripts/install.bat index e69de29bb..4dbd2051f 100755 --- a/cython/scripts/install.bat +++ b/cython/scripts/install.bat @@ -0,0 +1,18 @@ +:: This script runs the installation flow for python wrapped GTSAM. +:: It does so by running `python setup.py install` to install the wrapped package. + +echo "Installing GTSAM Python Wrapper" + +:: Set the package path +PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} + +:: Check if package directory exists. If not, print warning and exit. +if [ ! -d "$PACKAGE_PATH" ] +then + echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; + exit 1; +fi + +:: Run setup.py install with full paths. +echo "Running setup.py in $PACKAGE_PATH" +${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install From efde078b944e1865ea9e53e68726c48c5cf2d2e7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 14:05:17 -0500 Subject: [PATCH 030/120] pure CMake script to install Python wrapper after compiling --- cmake/GtsamCythonWrap.cmake | 15 --------------- cython/CMakeLists.txt | 3 ++- cython/scripts/install.bat | 18 ------------------ cython/scripts/install.sh | 30 ------------------------------ 4 files changed, 2 insertions(+), 64 deletions(-) delete mode 100755 cython/scripts/install.bat delete mode 100755 cython/scripts/install.sh diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 4cd061852..6331d1e95 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -278,18 +278,3 @@ function(install_cython_files source_files dest_directory) endif() endfunction() - -function(install_python_package install_path) - # Select the correct install script based on the OS - if(CMAKE_SYSTEM_NAME STREQUAL "Windows") - set(PYTHON_INSTALL_SCRIPT "install.bat") - elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin") - set(PYTHON_INSTALL_SCRIPT "install.sh") - endif() - - # Configure the variables in the script - configure_file(${PROJECT_SOURCE_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT} ${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}) - - # Add the new make target command - add_custom_target(python-install "${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}") -endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 96503b82f..bce9f2308 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,6 +45,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - install_python_package("${GTSAM_CYTHON_INSTALL_PATH}") + # Add the new make target command + add_custom_target(python-install COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/setup.py install) endif () diff --git a/cython/scripts/install.bat b/cython/scripts/install.bat deleted file mode 100755 index 4dbd2051f..000000000 --- a/cython/scripts/install.bat +++ /dev/null @@ -1,18 +0,0 @@ -:: This script runs the installation flow for python wrapped GTSAM. -:: It does so by running `python setup.py install` to install the wrapped package. - -echo "Installing GTSAM Python Wrapper" - -:: Set the package path -PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} - -:: Check if package directory exists. If not, print warning and exit. -if [ ! -d "$PACKAGE_PATH" ] -then - echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; - exit 1; -fi - -:: Run setup.py install with full paths. -echo "Running setup.py in $PACKAGE_PATH" -${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install diff --git a/cython/scripts/install.sh b/cython/scripts/install.sh deleted file mode 100755 index fdf86f130..000000000 --- a/cython/scripts/install.sh +++ /dev/null @@ -1,30 +0,0 @@ -#!/bin/sh - -# This script runs the installation flow for python wrapped GTSAM. -# It does so by first setting the correct ownership permissions on the package directory, -# and then running `python setup.py install` to install the wrapped package. - -echo "Installing GTSAM Python Wrapper" - -# Set the package path -PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG} - -# Check if package directory exists. If not, print warning and exit. -if [ ! -d "$PACKAGE_PATH" ] -then - echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first."; - exit 1; -fi - -# Set cython directory permissions to user so we don't get permission denied. -# This also works inside Docker containers. -if [ "$(whoami)" != "root" ] -then - sudo chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} -else - chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH} -fi - -# Run setup.py install with full paths. -echo "Running setup.py in $PACKAGE_PATH" -${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install From 9698b032537e9a74a6414ff46e09f9cdef196bab Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 14:06:25 -0500 Subject: [PATCH 031/120] removed extra line --- cmake/GtsamCythonWrap.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 6331d1e95..b6c4c2856 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -277,4 +277,4 @@ function(install_cython_files source_files dest_directory) install(FILES "${source_files}" DESTINATION "${dest_directory}") endif() -endfunction() +endfunction() \ No newline at end of file From 5feaf6dd9da35b9a347dc5c0d006c72ab0a3f2d4 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 14:07:28 -0500 Subject: [PATCH 032/120] reset to previous version --- cmake/GtsamCythonWrap.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index b6c4c2856..6331d1e95 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -277,4 +277,4 @@ function(install_cython_files source_files dest_directory) install(FILES "${source_files}" DESTINATION "${dest_directory}") endif() -endfunction() \ No newline at end of file +endfunction() From 2475e6c68c6581cce518f22c8d6683c857b0fc1b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 17:44:03 -0500 Subject: [PATCH 033/120] Load Cython requirements file instead of reading it in cmake --- cython/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index bce9f2308..0d2af6a33 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -32,8 +32,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) ) endif() - file(READ "${PROJECT_SOURCE_DIR}/cython/requirements.txt" CYTHON_INSTALL_REQUIREMENTS) - file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS) + set(CYTHON_INSTALL_REQUIREMENTS_FILE "${PROJECT_SOURCE_DIR}/cython/requirements.txt") # Install the custom-generated __init__.py # This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable From 453d3a74164613375a083566eea9f8b16c782d74 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 18:11:24 -0500 Subject: [PATCH 034/120] Added cmake variable GTSAM_CYTHON_INSTALL_FULLPATH to include build tag directly --- CMakeLists.txt | 4 +++- cmake/GtsamCythonWrap.cmake | 2 +- cython/gtsam_eigency/CMakeLists.txt | 8 ++++---- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a810ac9df..2cbdbf00c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -458,7 +458,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) if(NOT GTSAM_CYTHON_INSTALL_PATH) set(GTSAM_CYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/cython") endif() - set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) + # Cython install path appended with Build type (e.g. cython, cythonDebug, etc). + set(GTSAM_CYTHON_INSTALL_FULLPATH "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}") + set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) add_subdirectory(cython) else() set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 6331d1e95..851f53cfe 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -184,7 +184,7 @@ function(install_cython_wrapped_library interface_header generated_files_path in # Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH/subdirectory if there is one get_filename_component(location "${install_path}" PATH) get_filename_component(name "${install_path}" NAME) - message(STATUS "Installing Cython Toolbox to ${location}${GTSAM_BUILD_TAG}/${name}") #${GTSAM_CYTHON_INSTALL_PATH}" + message(STATUS "Installing Cython Toolbox to ${location}${GTSAM_BUILD_TAG}/${name}") #${GTSAM_CYTHON_INSTALL_FULLPATH}" if(GTSAM_BUILD_TYPE_POSTFIXES) foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index 77bead834..da174d690 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -39,11 +39,11 @@ add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigen # install install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} - DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}" + DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}" PATTERN "CMakeLists.txt" EXCLUDE PATTERN "__init__.py.in" EXCLUDE) install(TARGETS cythonize_eigency_core cythonize_eigency_conversions - DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency") -install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency) + DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency") +install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py) -install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency) +install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) From 4f6f8216110a2db9d7a9be3fbdba65a967490793 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 18:39:49 -0500 Subject: [PATCH 035/120] Vastly improved setup.py template --- cython/setup.py.in | 27 +++++++++++++++++++-------- 1 file changed, 19 insertions(+), 8 deletions(-) diff --git a/cython/setup.py.in b/cython/setup.py.in index df92b564c..98a05c9f6 100644 --- a/cython/setup.py.in +++ b/cython/setup.py.in @@ -7,6 +7,22 @@ except ImportError: packages = find_packages() +package_data = { + package: + [f for f in os.listdir(package.replace('.', os.path.sep)) if os.path.splitext(f)[1] in ('.so', '.pyd')] + for package in packages +} + +cython_install_requirements = open("${CYTHON_INSTALL_REQUIREMENTS_FILE}").readlines() + +install_requires = [line.strip() \ + for line in cython_install_requirements \ + if len(line.strip()) > 0 and not line.strip().startswith('#') +] + +# Cleaner to read in the contents rather than copy them over. +readme_contents = open("${PROJECT_SOURCE_DIR}/README.md").read() + setup( name='gtsam', description='Georgia Tech Smoothing And Mapping library', @@ -16,7 +32,7 @@ setup( author_email='frank.dellaert@gtsam.org', license='Simplified BSD license', keywords='slam sam robotics localization mapping optimization', - long_description='''${README_CONTENTS}''', + long_description=readme_contents, long_description_content_type='text/markdown', python_requires='>=2.7', # https://pypi.org/pypi?%3Aaction=list_classifiers @@ -34,11 +50,6 @@ setup( ], packages=packages, - package_data={package: - [f for f in os.listdir(package.replace('.', os.path.sep)) if os.path.splitext(f)[1] in ('.so', '.pyd')] - for package in packages - }, - install_requires=[line.strip() for line in ''' -${CYTHON_INSTALL_REQUIREMENTS} -'''.splitlines() if len(line.strip()) > 0 and not line.strip().startswith('#')] + package_data=package_data, + install_requires=install_requires ) From 192184b3b7c1efacb5a7608a7da4205fbba3536f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 24 Jun 2020 18:40:03 -0500 Subject: [PATCH 036/120] Specify working directory from where to call setup.py --- cython/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 0d2af6a33..01b6c06d4 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,6 +45,8 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") # Add the new make target command - add_custom_target(python-install COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/setup.py install) + add_custom_target(python-install + COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/setup.py install + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) endif () From 54c29031839fe00d559e97e4b2014927667180d2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 29 Jun 2020 16:53:42 -0500 Subject: [PATCH 037/120] make python-install command depends on gtsam target --- cython/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 01b6c06d4..2bfa8ae7c 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -47,6 +47,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) # Add the new make target command add_custom_target(python-install COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/setup.py install + DEPENDS gtsam WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) endif () From 806e5b12a37462481f1d1e656835b0beab89a6f1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 29 Jun 2020 19:29:52 -0500 Subject: [PATCH 038/120] cleaner version of execution script which only needs 'make install' --- cython/CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 2bfa8ae7c..75cbfea8a 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -45,9 +45,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") # Add the new make target command - add_custom_target(python-install - COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/setup.py install - DEPENDS gtsam - WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) + install(CODE + "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py install + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH})") + endif () From 16532bff37a5eb991f639d682ae733d2f27650b2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 29 Jun 2020 21:37:07 -0500 Subject: [PATCH 039/120] run setup.py after installing the gtsam_eigency module --- cython/CMakeLists.txt | 10 ++++++---- cython/gtsam_eigency/CMakeLists.txt | 22 ++++++++++++---------- 2 files changed, 18 insertions(+), 14 deletions(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 75cbfea8a..5569c0e47 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -44,10 +44,12 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - # Add the new make target command + # Adding custom function here so that gtsam_eigency is installed before + # the below execute_process runs. + install_gtsam_eigency(${PROJECT_BINARY_DIR}/cython/gtsam_eigency) + + # Automatically run the python installation via the setup.py install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py install - WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH})") - - + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH})") endif () diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index da174d690..5ea1c337c 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -8,7 +8,7 @@ set(OUTPUT_DIR "${PROJECT_BINARY_DIR}/cython/gtsam_eigency") set(EIGENCY_INCLUDE_DIR ${OUTPUT_DIR}) # This is to make the build/cython/gtsam_eigency folder a python package -configure_file(__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam_eigency/__init__.py) +configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py) # include eigency headers include_directories(${EIGENCY_INCLUDE_DIR}) @@ -38,12 +38,14 @@ add_custom_target(cythonize_eigency) add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core) # install -install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} - DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}" - PATTERN "CMakeLists.txt" EXCLUDE - PATTERN "__init__.py.in" EXCLUDE) -install(TARGETS cythonize_eigency_core cythonize_eigency_conversions - DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency") -install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) -configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py) -install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) +function(install_gtsam_eigency source_directory) + install(DIRECTORY ${source_directory} + DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}" + PATTERN "CMakeLists.txt" EXCLUDE + PATTERN "__init__.py.in" EXCLUDE) + install(TARGETS cythonize_eigency_core cythonize_eigency_conversions + DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency") + install(FILES ${source_directory}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) + install(FILES ${source_directory}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) + +endfunction() \ No newline at end of file From 192bf870af28156de5808074f6a45aa36e962410 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 13:16:09 -0500 Subject: [PATCH 040/120] newline added to end of CMake file --- cython/gtsam_eigency/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index 5ea1c337c..6cff534c5 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -48,4 +48,4 @@ function(install_gtsam_eigency source_directory) install(FILES ${source_directory}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) install(FILES ${source_directory}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) -endfunction() \ No newline at end of file +endfunction() From 9cbabb2cb6e8bf7407f67cfa8026cd227f069f5d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 20:45:55 -0500 Subject: [PATCH 041/120] Set high level Cython/Eigency variables to reduce duplication --- CMakeLists.txt | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2cbdbf00c..f8deebfcd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -454,13 +454,14 @@ endif() if (GTSAM_INSTALL_CYTHON_TOOLBOX) set(GTSAM_INSTALL_CYTHON_TOOLBOX 1) # Set up cache options - set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/cython") - if(NOT GTSAM_CYTHON_INSTALL_PATH) - set(GTSAM_CYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/cython") - endif() + set(GTSAM_CYTHON_PATH "${PROJECT_BINARY_DIR}/cython" CACHE PATH "Cython source files directory path") # Cython install path appended with Build type (e.g. cython, cythonDebug, etc). - set(GTSAM_CYTHON_INSTALL_FULLPATH "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}") - set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) + set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython.build") + if(NOT GTSAM_CYTHON_INSTALL_PATH) + set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython.build${GTSAM_BUILD_TAG}") + endif() + set(GTSAM_EIGENCY_PATH ${GTSAM_CYTHON_PATH}/gtsam_eigency) + set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) add_subdirectory(cython) else() set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h From 06476c8ee745deca1b188730b4cf881d48a0f668 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 20:46:55 -0500 Subject: [PATCH 042/120] Create and use cython build directory --- cython/CMakeLists.txt | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 5569c0e47..b0eb43c50 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -1,3 +1,6 @@ +# Create directory where cython build files will be placed +file(MAKE_DIRECTORY ${GTSAM_CYTHON_INSTALL_PATH}) + # Install cython components include(GtsamCythonWrap) @@ -5,7 +8,7 @@ include(GtsamCythonWrap) if (GTSAM_INSTALL_CYTHON_TOOLBOX) # build and include the eigency version of eigency add_subdirectory(gtsam_eigency) - include_directories(${PROJECT_BINARY_DIR}/cython/gtsam_eigency) + include_directories(${GTSAM_EIGENCY_PATH}) # Fix for error "C1128: number of sections exceeded object file format limit" if(MSVC) @@ -44,12 +47,13 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - # Adding custom function here so that gtsam_eigency is installed before - # the below execute_process runs. - install_gtsam_eigency(${PROJECT_BINARY_DIR}/cython/gtsam_eigency) + # Install gtsam_eigency. + # The paths are picked up directly from the parent CMakeLists.txt. + install_gtsam_eigency() # Automatically run the python installation via the setup.py install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py install - WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH})") + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_PATH})") + endif () From c84060acea3321150f7fd5e652d0b8b8c5c90f53 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 20:47:32 -0500 Subject: [PATCH 043/120] Use the high level cython variables, improve install process --- cython/gtsam_eigency/CMakeLists.txt | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index 6cff534c5..f64e45cdb 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -4,7 +4,7 @@ include(GtsamCythonWrap) # so that the cython-generated header "conversions_api.h" can be found when cythonizing eigency's core # and eigency's cython pxd headers can be found when cythonizing gtsam file(COPY "." DESTINATION ".") -set(OUTPUT_DIR "${PROJECT_BINARY_DIR}/cython/gtsam_eigency") +set(OUTPUT_DIR "${GTSAM_CYTHON_PATH}/gtsam_eigency") set(EIGENCY_INCLUDE_DIR ${OUTPUT_DIR}) # This is to make the build/cython/gtsam_eigency folder a python package @@ -16,8 +16,8 @@ include_directories(${EIGENCY_INCLUDE_DIR}) # Cythonize and build eigency message(STATUS "Cythonize and build eigency") # Important trick: use "../gtsam_eigency/conversions.pyx" to let cython know that the conversions module is -# a part of the gtsam_eigency package and generate the function call import_gtsam_igency__conversions() -# in conversions_api.h correctly!!! +# a part of the gtsam_eigency package and generate the function call import_gtsam_eigency__conversions() +# in conversions_api.h correctly! cythonize(cythonize_eigency_conversions "../gtsam_eigency/conversions.pyx" "conversions" "${OUTPUT_DIR}" "${EIGENCY_INCLUDE_DIR}" "" "" "") cythonize(cythonize_eigency_core "../gtsam_eigency/core.pyx" "core" @@ -38,14 +38,16 @@ add_custom_target(cythonize_eigency) add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core) # install -function(install_gtsam_eigency source_directory) - install(DIRECTORY ${source_directory} - DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}" +function(install_gtsam_eigency) + install(DIRECTORY ${GTSAM_EIGENCY_PATH} + DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}" PATTERN "CMakeLists.txt" EXCLUDE - PATTERN "__init__.py.in" EXCLUDE) + PATTERN "__init__.py.in" EXCLUDE + PATTERN "*.dir" EXCLUDE + PATTERN "*.make" EXCLUDE) install(TARGETS cythonize_eigency_core cythonize_eigency_conversions - DESTINATION "${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency") - install(FILES ${source_directory}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) - install(FILES ${source_directory}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_FULLPATH}/gtsam_eigency) + DESTINATION "${GTSAM_EIGENCY_INSTALL_PATH}") + install(FILES ${GTSAM_EIGENCY_PATH}/conversions_api.h DESTINATION ${GTSAM_EIGENCY_INSTALL_PATH}) + install(FILES ${GTSAM_EIGENCY_PATH}/__init__.py DESTINATION ${GTSAM_EIGENCY_INSTALL_PATH}) endfunction() From 7a725bf46af9fc069f4db772e4f191956a783e89 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 20:48:01 -0500 Subject: [PATCH 044/120] Remove redundant postfix checking since the postfix is already added at the top level --- cmake/GtsamCythonWrap.cmake | 75 ++++++------------------------------- 1 file changed, 12 insertions(+), 63 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 851f53cfe..3ce7f4454 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -184,35 +184,16 @@ function(install_cython_wrapped_library interface_header generated_files_path in # Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH/subdirectory if there is one get_filename_component(location "${install_path}" PATH) get_filename_component(name "${install_path}" NAME) - message(STATUS "Installing Cython Toolbox to ${location}${GTSAM_BUILD_TAG}/${name}") #${GTSAM_CYTHON_INSTALL_FULLPATH}" + message(STATUS "Installing Cython Toolbox to ${location}/${name}") #${GTSAM_CYTHON_INSTALL_PATH}" - if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - - install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}${build_type_tag}/${name}" - CONFIGURATIONS "${build_type}" - PATTERN "build" EXCLUDE - PATTERN "CMakeFiles" EXCLUDE - PATTERN "Makefile" EXCLUDE - PATTERN "*.cmake" EXCLUDE - PATTERN "*.cpp" EXCLUDE - PATTERN "*.py" EXCLUDE) - endforeach() - else() - install(DIRECTORY "${generated_files_path}/" DESTINATION ${install_path} - PATTERN "build" EXCLUDE - PATTERN "CMakeFiles" EXCLUDE - PATTERN "Makefile" EXCLUDE - PATTERN "*.cmake" EXCLUDE - PATTERN "*.cpp" EXCLUDE - PATTERN "*.py" EXCLUDE) - endif() + install(DIRECTORY "${generated_files_path}/" DESTINATION ${install_path} + CONFIGURATIONS "${CMAKE_BUILD_TYPE}" + PATTERN "build" EXCLUDE + PATTERN "CMakeFiles" EXCLUDE + PATTERN "Makefile" EXCLUDE + PATTERN "*.cmake" EXCLUDE + PATTERN "*.cpp" EXCLUDE + PATTERN "*.py" EXCLUDE) endfunction() # Helper function to install Cython scripts and handle multiple build types where the scripts @@ -232,24 +213,9 @@ function(install_cython_scripts source_directory dest_directory patterns) foreach(pattern ${patterns}) list(APPEND patterns_args PATTERN "${pattern}") endforeach() - if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - # Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one - get_filename_component(location "${dest_directory}" PATH) - get_filename_component(name "${dest_directory}" NAME) - install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" - FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) - endforeach() - else() - install(DIRECTORY "${source_directory}" DESTINATION "${dest_directory}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) - endif() + install(DIRECTORY "${source_directory}" DESTINATION "${dest_directory}" CONFIGURATIONS "${CMAKE_BUILD_TYPE}" + FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) endfunction() # Helper function to install specific files and handle multiple build types where the scripts @@ -259,22 +225,5 @@ endfunction() # source_files: The source files to be installed. # dest_directory: The destination directory to install to. function(install_cython_files source_files dest_directory) - - if(GTSAM_BUILD_TYPE_POSTFIXES) - foreach(build_type ${CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_upper) - if(${build_type_upper} STREQUAL "RELEASE") - set(build_type_tag "") # Don't create release mode tag on installed directory - else() - set(build_type_tag "${build_type}") - endif() - # Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one - get_filename_component(location "${dest_directory}" PATH) - get_filename_component(name "${dest_directory}" NAME) - install(FILES "${source_files}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}") - endforeach() - else() - install(FILES "${source_files}" DESTINATION "${dest_directory}") - endif() - + install(FILES "${source_files}" DESTINATION "${dest_directory}" CONFIGURATIONS "${CMAKE_BUILD_TYPE}") endfunction() From 54f2acd521b0531c9a727ee585cae7afcf5ef2bd Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 30 Jun 2020 20:57:31 -0500 Subject: [PATCH 045/120] updated cython wrapper README --- cython/README.md | 89 +++++++++++++++++++++--------------------------- 1 file changed, 38 insertions(+), 51 deletions(-) diff --git a/cython/README.md b/cython/README.md index bc6e346d9..0c59915a0 100644 --- a/cython/README.md +++ b/cython/README.md @@ -1,33 +1,36 @@ # Python Wrapper -This is the Cython/Python wrapper around the GTSAM C++ library. +This is the Python wrapper around the GTSAM C++ library. We use Cython to generate the bindings to the underlying C++ code. + +## Requirements + +- If you want to build the gtsam python library for a specific python version (eg 2.7), use the `-DGTSAM_PYTHON_VERSION=2.7` option when running `cmake` otherwise the default interpreter will be used. + - If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment) then the environment should be active while building gtsam. +- This wrapper needs `Cython(>=0.25.2)`, `backports_abc(>=0.5)`, and `numpy(>=1.11.0)`. These can be installed as follows: + + ```bash + pip install -r /cython/requirements.txt + ``` + +- For compatibility with gtsam's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git), +named `gtsam_eigency`, to interface between C++'s Eigen and Python's numpy. ## Install -- if you want to build the gtsam python library for a specific python version (eg 2.7), use the `-DGTSAM_PYTHON_VERSION=2.7` option when running `cmake` otherwise the default interpreter will be used. - - If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment) then the environment should be active while building gtsam. -- This wrapper needs Cython(>=0.25.2), backports_abc>=0.5, and numpy. These can be installed as follows: - -```bash - pip install -r /cython/requirements.txt -``` - -- For compatibility with gtsam's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git), -named **gtsam_eigency**, to interface between C++'s Eigen and Python's numpy. - -- Build and install gtsam using cmake with `GTSAM_INSTALL_CYTHON_TOOLBOX` enabled. -The wrapped module will be installed to `GTSAM_CYTHON_INSTALL_PATH`, which is -by default: `/cython` +- Run cmake with the `GTSAM_INSTALL_CYTHON_TOOLBOX` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory defined by `GTSAM_CYTHON_INSTALL_PATH`, which is by default: `/cython.build`. - To use the library without installing system-wide: modify your `PYTHONPATH` to include the `GTSAM_CYTHON_INSTALL_PATH`: -```bash -export PYTHONPATH=$PYTHONPATH: -``` -- To install system-wide: run `make install` then navigate to `GTSAM_CYTHON_INSTALL_PATH` and run `python setup.py install` - - (the same command can be used to install into a virtual environment if it is active) - - note: if you don't want gtsam to install to a system directory such as `/usr/local`, pass `-DCMAKE_INSTALL_PREFIX="./install"` to cmake to install gtsam to a subdirectory of the build directory. - - if you run `setup.py` from the build directory rather than the installation directory, the script will warn you with the message: `setup.py is being run from an unexpected location`. - Before `make install` is run, not all the components of the package have been copied across, so running `setup.py` from the build directory would result in an incomplete package. + + ```bash + export PYTHONPATH=$PYTHONPATH: + ``` + +- Build GTSAM and the wrapper with `make`. + +- To install system-wide, simply run `make install`. + - The same command can be used to install into a virtual environment if it is active. + - **NOTE**: if you don't want gtsam to install to a system directory such as `/usr/local`, pass `-DCMAKE_INSTALL_PREFIX="./install"` to cmake to install gtsam to a subdirectory of the build directory. + - If you run `setup.py` from the build directory rather than the installation directory, the script will warn you with the message: `setup.py is being run from an unexpected location`. ## Unit Tests @@ -47,48 +50,32 @@ See the tests for examples. - Vector/Matrix: + GTSAM expects double-precision floating point vectors and matrices. - Hence, you should pass numpy matrices with dtype=float, or 'float64'. + Hence, you should pass numpy matrices with `dtype=float`, or `float64`. + Also, GTSAM expects *column-major* matrices, unlike the default storage scheme in numpy. Hence, you should pass column-major matrices to gtsam using the flag order='F'. And you always get column-major matrices back. - For more details, see: https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed - + Passing row-major matrices of different dtype, e.g. 'int', will also work + For more details, see [this link](https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed). + + Passing row-major matrices of different dtype, e.g. `int`, will also work as the wrapper converts them to column-major and dtype float for you, using numpy.array.astype(float, order='F', copy=False). However, this will result a copy if your matrix is not in the expected type and storage order. - Inner namespace: Classes in inner namespace will be prefixed by _ in Python. -Examples: noiseModel_Gaussian, noiseModel_mEstimator_Tukey + + Examples: `noiseModel_Gaussian`, `noiseModel_mEstimator_Tukey` - Casting from a base class to a derive class must be done explicitly. -Examples: -```Python - noiseBase = factor.noiseModel() - noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase) -``` -## Wrapping Your Own Project That Uses GTSAM + Examples: + ```python + noiseBase = factor.noiseModel() + noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase) + ``` -- Set PYTHONPATH to include ${GTSAM_CYTHON_INSTALL_PATH} - + so that it can find gtsam Cython header: gtsam/gtsam.pxd +## Wrapping Custom GTSAM-based Project -- In your CMakeList.txt -```cmake -find_package(GTSAM REQUIRED) # Make sure gtsam's install folder is in your PATH -set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools") - -# Wrap -include(GtsamCythonWrap) -include_directories(${GTSAM_EIGENCY_INSTALL_PATH}) -wrap_and_install_library_cython("your_project_interface.h" - "from gtsam.gtsam cimport *" # extra import of gtsam/gtsam.pxd Cython header - "your_install_path" - "libraries_to_link_with_the_cython_module" - "dependencies_which_need_to_be_built_before_the_wrapper" - ) -#Optional: install_cython_scripts and install_cython_files. See GtsamCythonWrap.cmake. -``` +Please refer to the template project and the corresponding tutorial available [here](https://github.com/borglab/gtsam-project-python). ## KNOWN ISSUES From 8859b963a24db117fc51ea9532c310b6721c0fc1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Jul 2020 12:13:53 -0500 Subject: [PATCH 046/120] In-place cython build Build everything inside the build/cython{BuildType} directory directly, so we can bypass the `make install` step and introduce the `make python-install` step which allows cmake to handle all dependencies. --- CMakeLists.txt | 8 ++--- cmake/GtsamCythonWrap.cmake | 6 ++-- cython/CMakeLists.txt | 51 ++++++++++++++--------------- cython/gtsam_eigency/CMakeLists.txt | 17 +--------- 4 files changed, 31 insertions(+), 51 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index f8deebfcd..a9966f5d3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -454,15 +454,13 @@ endif() if (GTSAM_INSTALL_CYTHON_TOOLBOX) set(GTSAM_INSTALL_CYTHON_TOOLBOX 1) # Set up cache options - set(GTSAM_CYTHON_PATH "${PROJECT_BINARY_DIR}/cython" CACHE PATH "Cython source files directory path") # Cython install path appended with Build type (e.g. cython, cythonDebug, etc). - set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython.build") + set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython") if(NOT GTSAM_CYTHON_INSTALL_PATH) - set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython.build${GTSAM_BUILD_TAG}") + set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython${GTSAM_BUILD_TAG}" CACHE PATH "") endif() - set(GTSAM_EIGENCY_PATH ${GTSAM_CYTHON_PATH}/gtsam_eigency) set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) - add_subdirectory(cython) + add_subdirectory(cython ${GTSAM_CYTHON_INSTALL_PATH}) else() set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h endif() diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 3ce7f4454..797745acf 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -41,9 +41,9 @@ execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" function(wrap_and_install_library_cython interface_header extra_imports install_path libs dependencies) # Paths for generated files get_filename_component(module_name "${interface_header}" NAME_WE) - set(generated_files_path "${PROJECT_BINARY_DIR}/cython/${module_name}") + set(generated_files_path "${GTSAM_CYTHON_INSTALL_PATH}/${module_name}") wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}") - install_cython_wrapped_library("${interface_header}" "${generated_files_path}" "${install_path}") + # install_cython_wrapped_library("${interface_header}" "${generated_files_path}" "${install_path}") endfunction() function(set_up_required_cython_packages) @@ -214,7 +214,7 @@ function(install_cython_scripts source_directory dest_directory patterns) list(APPEND patterns_args PATTERN "${pattern}") endforeach() - install(DIRECTORY "${source_directory}" DESTINATION "${dest_directory}" CONFIGURATIONS "${CMAKE_BUILD_TYPE}" + file(COPY "${source_directory}" DESTINATION "${dest_directory}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index b0eb43c50..74725c463 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -1,21 +1,37 @@ -# Create directory where cython build files will be placed -file(MAKE_DIRECTORY ${GTSAM_CYTHON_INSTALL_PATH}) - # Install cython components include(GtsamCythonWrap) # Create the cython toolbox for the gtsam library if (GTSAM_INSTALL_CYTHON_TOOLBOX) + # Add the new make target command + add_custom_target(python-install + COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}/setup.py install + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) + # build and include the eigency version of eigency add_subdirectory(gtsam_eigency) - include_directories(${GTSAM_EIGENCY_PATH}) + include_directories(${GTSAM_EIGENCY_INSTALL_PATH}) # Fix for error "C1128: number of sections exceeded object file format limit" if(MSVC) add_compile_options(/bigobj) endif() - # wrap gtsam + # First set up all the package related files. + # This also ensures the below wrap operations work correctly. + set(CYTHON_INSTALL_REQUIREMENTS_FILE "${PROJECT_SOURCE_DIR}/cython/requirements.txt") + + # Install the custom-generated __init__.py + # This makes the cython (sub-)directories into python packages, so gtsam can be found while wrapping gtsam_unstable + configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py ${GTSAM_CYTHON_INSTALL_PATH}/gtsam/__init__.py COPYONLY) + configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable/__init__.py COPYONLY) + configure_file(${PROJECT_SOURCE_DIR}/cython/setup.py.in ${GTSAM_CYTHON_INSTALL_PATH}/setup.py) + install_cython_files("${PROJECT_BINARY_DIR}/cython/setup.py" "${GTSAM_CYTHON_INSTALL_PATH}") + # install scripts and tests + install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + + # Wrap gtsam add_custom_target(gtsam_header DEPENDS "../gtsam.h") wrap_and_install_library_cython("../gtsam.h" # interface_header "" # extra imports @@ -23,8 +39,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) gtsam # library to link with "wrap;cythonize_eigency;gtsam;gtsam_header" # dependencies which need to be built before wrapping ) + add_dependencies(python-install gtsam gtsam_header) - # wrap gtsam_unstable + # Wrap gtsam_unstable if(GTSAM_BUILD_UNSTABLE) add_custom_target(gtsam_unstable_header DEPENDS "../gtsam_unstable/gtsam_unstable.h") wrap_and_install_library_cython("../gtsam_unstable/gtsam_unstable.h" # interface_header @@ -33,27 +50,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) gtsam_unstable # library to link with "gtsam_unstable;gtsam_unstable_header;cythonize_gtsam" # dependencies to be built before wrapping ) + add_dependencies(python-install gtsam_unstable gtsam_unstable_header) endif() - set(CYTHON_INSTALL_REQUIREMENTS_FILE "${PROJECT_SOURCE_DIR}/cython/requirements.txt") - - # Install the custom-generated __init__.py - # This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable - configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py COPYONLY) - configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py COPYONLY) - configure_file(${PROJECT_SOURCE_DIR}/cython/setup.py.in ${PROJECT_BINARY_DIR}/cython/setup.py) - install_cython_files("${PROJECT_BINARY_DIR}/cython/setup.py" "${GTSAM_CYTHON_INSTALL_PATH}") - # install scripts and tests - install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - - # Install gtsam_eigency. - # The paths are picked up directly from the parent CMakeLists.txt. - install_gtsam_eigency() - - # Automatically run the python installation via the setup.py - install(CODE - "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py install - WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_PATH})") - endif () diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index f64e45cdb..7c215e89c 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -4,7 +4,7 @@ include(GtsamCythonWrap) # so that the cython-generated header "conversions_api.h" can be found when cythonizing eigency's core # and eigency's cython pxd headers can be found when cythonizing gtsam file(COPY "." DESTINATION ".") -set(OUTPUT_DIR "${GTSAM_CYTHON_PATH}/gtsam_eigency") +set(OUTPUT_DIR "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency") set(EIGENCY_INCLUDE_DIR ${OUTPUT_DIR}) # This is to make the build/cython/gtsam_eigency folder a python package @@ -36,18 +36,3 @@ target_include_directories(cythonize_eigency_core PUBLIC add_dependencies(cythonize_eigency_core cythonize_eigency_conversions) add_custom_target(cythonize_eigency) add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core) - -# install -function(install_gtsam_eigency) - install(DIRECTORY ${GTSAM_EIGENCY_PATH} - DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}" - PATTERN "CMakeLists.txt" EXCLUDE - PATTERN "__init__.py.in" EXCLUDE - PATTERN "*.dir" EXCLUDE - PATTERN "*.make" EXCLUDE) - install(TARGETS cythonize_eigency_core cythonize_eigency_conversions - DESTINATION "${GTSAM_EIGENCY_INSTALL_PATH}") - install(FILES ${GTSAM_EIGENCY_PATH}/conversions_api.h DESTINATION ${GTSAM_EIGENCY_INSTALL_PATH}) - install(FILES ${GTSAM_EIGENCY_PATH}/__init__.py DESTINATION ${GTSAM_EIGENCY_INSTALL_PATH}) - -endfunction() From 74591eece60b45342a865474fef452a7683430c7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Jul 2020 14:36:16 -0500 Subject: [PATCH 047/120] fixed CYTHON_INSTALL_PATH cmake variable wrt cache --- CMakeLists.txt | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a9966f5d3..f5b9c5e22 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -455,10 +455,8 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) set(GTSAM_INSTALL_CYTHON_TOOLBOX 1) # Set up cache options # Cython install path appended with Build type (e.g. cython, cythonDebug, etc). - set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython") - if(NOT GTSAM_CYTHON_INSTALL_PATH) - set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython${GTSAM_BUILD_TAG}" CACHE PATH "") - endif() + # This does not override custom values set from the command line + set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython${GTSAM_BUILD_TAG}" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython") set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) add_subdirectory(cython ${GTSAM_CYTHON_INSTALL_PATH}) else() From 59968fddc5d7e0ded0102a8ac310602b9dd5c4b9 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Jul 2020 14:36:57 -0500 Subject: [PATCH 048/120] Python Wrapper CMake update - Added python-install target variable for easy updating. - Fixed/Added all dependencies so that everything is built automatically. - Removed unnecessary install commands --- cmake/GtsamCythonWrap.cmake | 26 +++----------------------- cython/CMakeLists.txt | 14 ++++++++------ cython/gtsam_eigency/CMakeLists.txt | 2 ++ 3 files changed, 13 insertions(+), 29 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 797745acf..7597834c9 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -43,7 +43,6 @@ function(wrap_and_install_library_cython interface_header extra_imports install_ get_filename_component(module_name "${interface_header}" NAME_WE) set(generated_files_path "${GTSAM_CYTHON_INSTALL_PATH}/${module_name}") wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}") - # install_cython_wrapped_library("${interface_header}" "${generated_files_path}" "${install_path}") endfunction() function(set_up_required_cython_packages) @@ -170,32 +169,13 @@ function(wrap_library_cython interface_header generated_files_path extra_imports cythonize(cythonize_${module_name} ${generated_pyx} ${module_name} ${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx) + add_dependencies(${python_install_target} cython_wrap_${module_name}_pyx) + # distclean add_custom_target(wrap_${module_name}_cython_distclean COMMAND cmake -E remove_directory ${generated_files_path}) endfunction() -# Internal function that installs a wrap toolbox -function(install_cython_wrapped_library interface_header generated_files_path install_path) - get_filename_component(module_name "${interface_header}" NAME_WE) - - # NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name - # here prevents creating the top-level module name directory in the destination. - # Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH/subdirectory if there is one - get_filename_component(location "${install_path}" PATH) - get_filename_component(name "${install_path}" NAME) - message(STATUS "Installing Cython Toolbox to ${location}/${name}") #${GTSAM_CYTHON_INSTALL_PATH}" - - install(DIRECTORY "${generated_files_path}/" DESTINATION ${install_path} - CONFIGURATIONS "${CMAKE_BUILD_TYPE}" - PATTERN "build" EXCLUDE - PATTERN "CMakeFiles" EXCLUDE - PATTERN "Makefile" EXCLUDE - PATTERN "*.cmake" EXCLUDE - PATTERN "*.cpp" EXCLUDE - PATTERN "*.py" EXCLUDE) -endfunction() - # Helper function to install Cython scripts and handle multiple build types where the scripts # should be installed to all build type toolboxes # @@ -225,5 +205,5 @@ endfunction() # source_files: The source files to be installed. # dest_directory: The destination directory to install to. function(install_cython_files source_files dest_directory) - install(FILES "${source_files}" DESTINATION "${dest_directory}" CONFIGURATIONS "${CMAKE_BUILD_TYPE}") + file(COPY "${source_files}" DESTINATION "${dest_directory}") endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 74725c463..ce93120c2 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -4,7 +4,8 @@ include(GtsamCythonWrap) # Create the cython toolbox for the gtsam library if (GTSAM_INSTALL_CYTHON_TOOLBOX) # Add the new make target command - add_custom_target(python-install + set(python_install_target python-install) + add_custom_target(${python_install_target} COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}/setup.py install WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) @@ -27,9 +28,6 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable/__init__.py COPYONLY) configure_file(${PROJECT_SOURCE_DIR}/cython/setup.py.in ${GTSAM_CYTHON_INSTALL_PATH}/setup.py) install_cython_files("${PROJECT_BINARY_DIR}/cython/setup.py" "${GTSAM_CYTHON_INSTALL_PATH}") - # install scripts and tests - install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") - install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") # Wrap gtsam add_custom_target(gtsam_header DEPENDS "../gtsam.h") @@ -39,7 +37,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) gtsam # library to link with "wrap;cythonize_eigency;gtsam;gtsam_header" # dependencies which need to be built before wrapping ) - add_dependencies(python-install gtsam gtsam_header) + add_dependencies(${python_install_target} gtsam gtsam_header) # Wrap gtsam_unstable if(GTSAM_BUILD_UNSTABLE) @@ -50,7 +48,11 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) gtsam_unstable # library to link with "gtsam_unstable;gtsam_unstable_header;cythonize_gtsam" # dependencies to be built before wrapping ) - add_dependencies(python-install gtsam_unstable gtsam_unstable_header) + add_dependencies(${python_install_target} gtsam_unstable gtsam_unstable_header) endif() + # install scripts and tests + install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py") + endif () diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index 7c215e89c..663ea0a32 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -36,3 +36,5 @@ target_include_directories(cythonize_eigency_core PUBLIC add_dependencies(cythonize_eigency_core cythonize_eigency_conversions) add_custom_target(cythonize_eigency) add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core) + +add_dependencies(${python_install_target} cythonize_eigency) From a6908cd1cb003ee184d0018a559075b319d65afe Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Jul 2020 16:23:24 -0500 Subject: [PATCH 049/120] removed unneeded install commands and updated README --- cmake/GtsamCythonWrap.cmake | 10 ----- cython/CMakeLists.txt | 1 - cython/README.md | 83 ++++++++++++++++++++----------------- 3 files changed, 44 insertions(+), 50 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 7597834c9..c155cbbd8 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -197,13 +197,3 @@ function(install_cython_scripts source_directory dest_directory patterns) file(COPY "${source_directory}" DESTINATION "${dest_directory}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE) endfunction() - -# Helper function to install specific files and handle multiple build types where the scripts -# should be installed to all build type toolboxes -# -# Arguments: -# source_files: The source files to be installed. -# dest_directory: The destination directory to install to. -function(install_cython_files source_files dest_directory) - file(COPY "${source_files}" DESTINATION "${dest_directory}") -endfunction() diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index ce93120c2..65a9e9c62 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -27,7 +27,6 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py ${GTSAM_CYTHON_INSTALL_PATH}/gtsam/__init__.py COPYONLY) configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable/__init__.py COPYONLY) configure_file(${PROJECT_SOURCE_DIR}/cython/setup.py.in ${GTSAM_CYTHON_INSTALL_PATH}/setup.py) - install_cython_files("${PROJECT_BINARY_DIR}/cython/setup.py" "${GTSAM_CYTHON_INSTALL_PATH}") # Wrap gtsam add_custom_target(gtsam_header DEPENDS "../gtsam.h") diff --git a/cython/README.md b/cython/README.md index 0c59915a0..f69b7a5a6 100644 --- a/cython/README.md +++ b/cython/README.md @@ -4,43 +4,48 @@ This is the Python wrapper around the GTSAM C++ library. We use Cython to genera ## Requirements -- If you want to build the gtsam python library for a specific python version (eg 2.7), use the `-DGTSAM_PYTHON_VERSION=2.7` option when running `cmake` otherwise the default interpreter will be used. - - If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment) then the environment should be active while building gtsam. +- If you want to build the GTSAM python library for a specific python version (eg 3.6), + use the `-DGTSAM_PYTHON_VERSION=3.6` option when running `cmake` otherwise the default interpreter will be used. +- If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment), + then the environment should be active while building GTSAM. - This wrapper needs `Cython(>=0.25.2)`, `backports_abc(>=0.5)`, and `numpy(>=1.11.0)`. These can be installed as follows: ```bash pip install -r /cython/requirements.txt ``` -- For compatibility with gtsam's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git), -named `gtsam_eigency`, to interface between C++'s Eigen and Python's numpy. +- For compatibility with GTSAM's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git), + named `gtsam_eigency`, to interface between C++'s Eigen and Python's numpy. ## Install -- Run cmake with the `GTSAM_INSTALL_CYTHON_TOOLBOX` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory defined by `GTSAM_CYTHON_INSTALL_PATH`, which is by default: `/cython.build`. - -- To use the library without installing system-wide: modify your `PYTHONPATH` to include the `GTSAM_CYTHON_INSTALL_PATH`: - - ```bash - export PYTHONPATH=$PYTHONPATH: - ``` +- Run cmake with the `GTSAM_INSTALL_CYTHON_TOOLBOX` cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory defined by `GTSAM_CYTHON_INSTALL_PATH`, which is by default `/cython` in Release mode and `/cython` for other modes. - Build GTSAM and the wrapper with `make`. -- To install system-wide, simply run `make install`. - - The same command can be used to install into a virtual environment if it is active. - - **NOTE**: if you don't want gtsam to install to a system directory such as `/usr/local`, pass `-DCMAKE_INSTALL_PREFIX="./install"` to cmake to install gtsam to a subdirectory of the build directory. - - If you run `setup.py` from the build directory rather than the installation directory, the script will warn you with the message: `setup.py is being run from an unexpected location`. +- To install, simply run `make python-install`. + - The same command can be used to install into a virtual environment if it is active. + - **NOTE**: if you don't want GTSAM to install to a system directory such as `/usr/local`, pass `-DCMAKE_INSTALL_PREFIX="./install"` to cmake to install GTSAM to a subdirectory of the build directory. + +- You can also directly run `make python-install` without running `make`, and it will compile all the dependencies accordingly. ## Unit Tests The Cython toolbox also has a small set of unit tests located in the test directory. To run them: -```bash - cd - python -m unittest discover -``` + ```bash + cd + python -m unittest discover + ``` + +## Utils + +TODO + +## Examples + +TODO ## Writing Your Own Scripts @@ -49,25 +54,27 @@ See the tests for examples. ### Some Important Notes: - Vector/Matrix: - + GTSAM expects double-precision floating point vectors and matrices. + + - GTSAM expects double-precision floating point vectors and matrices. Hence, you should pass numpy matrices with `dtype=float`, or `float64`. - + Also, GTSAM expects *column-major* matrices, unlike the default storage - scheme in numpy. Hence, you should pass column-major matrices to gtsam using + - Also, GTSAM expects _column-major_ matrices, unlike the default storage + scheme in numpy. Hence, you should pass column-major matrices to GTSAM using the flag order='F'. And you always get column-major matrices back. For more details, see [this link](https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed). - + Passing row-major matrices of different dtype, e.g. `int`, will also work + - Passing row-major matrices of different dtype, e.g. `int`, will also work as the wrapper converts them to column-major and dtype float for you, using numpy.array.astype(float, order='F', copy=False). However, this will result a copy if your matrix is not in the expected type and storage order. -- Inner namespace: Classes in inner namespace will be prefixed by _ in Python. +- Inner namespace: Classes in inner namespace will be prefixed by \_ in Python. Examples: `noiseModel_Gaussian`, `noiseModel_mEstimator_Tukey` - Casting from a base class to a derive class must be done explicitly. Examples: + ```python noiseBase = factor.noiseModel() noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase) @@ -75,37 +82,35 @@ See the tests for examples. ## Wrapping Custom GTSAM-based Project -Please refer to the template project and the corresponding tutorial available [here](https://github.com/borglab/gtsam-project-python). +Please refer to the template project and the corresponding tutorial available [here](https://github.com/borglab/GTSAM-project-python). ## KNOWN ISSUES - - Doesn't work with python3 installed from homebrew - - size-related issue: can only wrap up to a certain number of classes: up to mEstimator! - - Guess: 64 vs 32b? disutils Compiler flags? - - Bug with Cython 0.24: instantiated factor classes return FastVector for keys(), which can't be casted to FastVector - - Upgrading to 0.25 solves the problem - - Need default constructor and default copy constructor for almost every classes... :( - - support these constructors by default and declare "delete" for special classes? - +- Doesn't work with python3 installed from homebrew + - size-related issue: can only wrap up to a certain number of classes: up to mEstimator! + - Guess: 64 vs 32b? disutils Compiler flags? +- Bug with Cython 0.24: instantiated factor classes return FastVector for keys(), which can't be casted to FastVector + - Upgrading to 0.25 solves the problem +- Need default constructor and default copy constructor for almost every classes... :( + - support these constructors by default and declare "delete" for special classes? ### TODO - [ ] allow duplication of parent' functions in child classes. Not allowed for now due to conflicts in Cython. -- [ ] a common header for boost shared_ptr? (Or wait until everything is switched to std::shared_ptr in gtsam?) +- [ ] a common header for boost shared_ptr? (Or wait until everything is switched to std::shared_ptr in GTSAM?) - [ ] inner namespaces ==> inner packages? - [ ] Wrap fixed-size Matrices/Vectors? - ### Completed/Cancelled: -- [x] Fix Python tests: don't use " import * ": Bad style!!! (18-03-17 19:50) +- [x] Fix Python tests: don't use " import \* ": Bad style!!! (18-03-17 19:50) - [x] Unit tests for cython wrappers @done (18-03-17 18:45) -- simply compare generated files - [x] Wrap unstable @done (18-03-17 15:30) -- [x] Unify cython/gtsam.h and the original gtsam.h @done (18-03-17 15:30) +- [x] Unify cython/GTSAM.h and the original GTSAM.h @done (18-03-17 15:30) - [x] 18-03-17: manage to unify the two versions by removing std container stubs from the matlab version,and keeping KeyList/KeyVector/KeySet as in the matlab version. Probably Cython 0.25 fixes the casting problem. - [x] 06-03-17: manage to remove the requirements for default and copy constructors - [ ] 25-11-16: Try to unify but failed. Main reasons are: Key/size_t, std containers, KeyVector/KeyList/KeySet. Matlab doesn't need to know about Key, but I can't make Cython to ignore Key as it couldn't cast KeyVector, i.e. FastVector, to FastVector. -- [ ] Marginal and JointMarginal: revert changes @failed (17-03-17 11:00) -- Cython does need a default constructor! It produces cpp code like this: ```gtsam::JointMarginal __pyx_t_1;``` Users don't have to wrap this constructor, however. +- [ ] Marginal and JointMarginal: revert changes @failed (17-03-17 11:00) -- Cython does need a default constructor! It produces cpp code like this: `GTSAM::JointMarginal __pyx_t_1;` Users don't have to wrap this constructor, however. - [x] Convert input numpy Matrix/Vector to float dtype and storage order 'F' automatically, cannot crash! @done (15-03-17 13:00) - [x] Remove requirements.txt - Frank: don't bother with only 2 packages and a special case for eigency! @done (08-03-17 10:30) - [x] CMake install script @done (25-11-16 02:30) @@ -119,7 +124,7 @@ Please refer to the template project and the corresponding tutorial available [h - [x] Casting from parent and grandparents @done (16-11-16 17:00) - [x] Allow overloading constructors. The current solution is annoying!!! @done (16-11-16 17:00) - [x] Support "print obj" @done (16-11-16 17:00) -- [x] methods for FastVector: at, [], ... @done (16-11-16 17:00) +- [x] methods for FastVector: at, [], ... @done (16-11-16 17:00) - [x] Cython: Key and size_t: traits doesn't exist @done (16-09-12 18:34) - [x] KeyVector, KeyList, KeySet... @done (16-09-13 17:19) - [x] [Nice to have] parse typedef @done (16-09-13 17:19) From d2f69eeab41044219f4a40314eaf98d62254d183 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 1 Jul 2020 17:07:31 -0500 Subject: [PATCH 050/120] Add python-install dependency for gtsam_unstable as well --- cmake/GtsamCythonWrap.cmake | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index c155cbbd8..2f5582513 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -137,6 +137,8 @@ function(cythonize target pyx_file output_lib_we output_dir include_dirs libs in target_link_libraries(${target} "${libs}") endif() add_dependencies(${target} ${target}_pyx2cpp) + + add_dependencies(${python_install_target} ${target}) endfunction() # Internal function that wraps a library and compiles the wrapper @@ -169,8 +171,6 @@ function(wrap_library_cython interface_header generated_files_path extra_imports cythonize(cythonize_${module_name} ${generated_pyx} ${module_name} ${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx) - add_dependencies(${python_install_target} cython_wrap_${module_name}_pyx) - # distclean add_custom_target(wrap_${module_name}_cython_distclean COMMAND cmake -E remove_directory ${generated_files_path}) From cb151dd9ee9426f60c371c4a49c043726f7a4afa Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 4 Jul 2020 20:42:15 -0400 Subject: [PATCH 051/120] update python build location in travis script --- .travis.python.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.python.sh b/.travis.python.sh index 1ef5799aa..772311f38 100644 --- a/.travis.python.sh +++ b/.travis.python.sh @@ -34,7 +34,7 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \ make -j$(nproc) install -cd $CURRDIR/../gtsam_install/cython +cd cython sudo $PYTHON setup.py install From e08e39202074fed0b0a40fdb821e5f0726ec4799 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 5 Jul 2020 21:57:18 -0500 Subject: [PATCH 052/120] Improved paths and added checks --- cmake/GtsamCythonWrap.cmake | 13 +++++++++---- cython/gtsam_eigency/CMakeLists.txt | 4 +++- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake index 2f5582513..c8f876895 100644 --- a/cmake/GtsamCythonWrap.cmake +++ b/cmake/GtsamCythonWrap.cmake @@ -41,7 +41,7 @@ execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" function(wrap_and_install_library_cython interface_header extra_imports install_path libs dependencies) # Paths for generated files get_filename_component(module_name "${interface_header}" NAME_WE) - set(generated_files_path "${GTSAM_CYTHON_INSTALL_PATH}/${module_name}") + set(generated_files_path "${install_path}") wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}") endfunction() @@ -138,7 +138,9 @@ function(cythonize target pyx_file output_lib_we output_dir include_dirs libs in endif() add_dependencies(${target} ${target}_pyx2cpp) - add_dependencies(${python_install_target} ${target}) + if(TARGET ${python_install_target}) + add_dependencies(${python_install_target} ${target}) + endif() endfunction() # Internal function that wraps a library and compiles the wrapper @@ -151,9 +153,12 @@ function(wrap_library_cython interface_header generated_files_path extra_imports get_filename_component(module_name "${interface_header}" NAME_WE) # Wrap module to Cython pyx - message(STATUS "Cython wrapper generating ${module_name}.pyx") + message(STATUS "Cython wrapper generating ${generated_files_path}/${module_name}.pyx") set(generated_pyx "${generated_files_path}/${module_name}.pyx") - file(MAKE_DIRECTORY "${generated_files_path}") + if(NOT EXISTS ${generated_files_path}) + file(MAKE_DIRECTORY "${generated_files_path}") + endif() + add_custom_command( OUTPUT ${generated_pyx} DEPENDS ${interface_header} wrap diff --git a/cython/gtsam_eigency/CMakeLists.txt b/cython/gtsam_eigency/CMakeLists.txt index 663ea0a32..a0cf0fbde 100644 --- a/cython/gtsam_eigency/CMakeLists.txt +++ b/cython/gtsam_eigency/CMakeLists.txt @@ -37,4 +37,6 @@ add_dependencies(cythonize_eigency_core cythonize_eigency_conversions) add_custom_target(cythonize_eigency) add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core) -add_dependencies(${python_install_target} cythonize_eigency) +if(TARGET ${python_install_target}) + add_dependencies(${python_install_target} cythonize_eigency) +endif() From 7d0e440293fe87b2f5ff6e142bf10588d9c051ee Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 6 Jul 2020 17:38:34 -0400 Subject: [PATCH 053/120] new definition for FunctorizedFactor to allow for using std::function and lambdas --- gtsam/nonlinear/FunctorizedFactor.h | 73 +++++++-------- .../nonlinear/tests/testFunctorizedFactor.cpp | 89 ++++++++++++++----- 2 files changed, 97 insertions(+), 65 deletions(-) diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index 82d2f822e..c88579587 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -27,14 +27,11 @@ namespace gtsam { /** * Factor which evaluates functor and uses the result to compute * error on provided measurement. - * The provided FUNCTOR should provide two type aliases: `argument_type` which - * corresponds to the type of input it accepts and `return_type` which indicates - * the type of the return value. This factor uses those type values to construct - * the functor. * * Template parameters are - * @param FUNCTOR: A class which operates as a functor. - * + * @param R: The return type of the functor after evaluation. + * @param T: The argument type for the functor. + * * Example: * Key key = Symbol('X', 0); * auto model = noiseModel::Isotropic::Sigma(9, 1); @@ -48,58 +45,53 @@ namespace gtsam { * MultiplyFunctor(double m) : m_(m) {} * Matrix operator()(const Matrix &X, * OptionalJacobian<-1, -1> H = boost::none) const { - * if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), X.rows()*X.cols()); - * return m_ * X; + * if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), + * X.rows()*X.cols()); return m_ * X; * } * }; * * Matrix measurement = Matrix::Identity(3, 3); * double multiplier = 2.0; - * FunctorizedFactor factor(keyX, measurement, model, multiplier); + * + * FunctorizedFactor factor(keyX, measurement, model, + * MultiplyFunctor(multiplier)); */ -template -class GTSAM_EXPORT FunctorizedFactor - : public NoiseModelFactor1 { -private: - using T = typename FUNCTOR::argument_type; +template +class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { + private: using Base = NoiseModelFactor1; - typename FUNCTOR::return_type - measured_; ///< value that is compared with functor return value - SharedNoiseModel noiseModel_; ///< noise model - FUNCTOR func_; ///< functor instance + R measured_; ///< value that is compared with functor return value + SharedNoiseModel noiseModel_; ///< noise model + std::function)> func_; ///< functor instance -public: + public: /** default constructor - only use for serialization */ FunctorizedFactor() {} /** Construct with given x and the parameters of the basis - * - * @param Args: Variadic template parameter for functor arguments. * * @param key: Factor key - * @param z: Measurement object of type FUNCTOR::return_type + * @param z: Measurement object of type R * @param model: Noise model - * @param args: Variable number of arguments used to instantiate functor + * @param func: The instance of the functor object */ - template - FunctorizedFactor(Key key, const typename FUNCTOR::return_type &z, - const SharedNoiseModel &model, Args &&... args) - : Base(model, key), measured_(z), noiseModel_(model), - func_(std::forward(args)...) {} + FunctorizedFactor(Key key, const R &z, const SharedNoiseModel &model, + const std::function)> func) + : Base(model, key), measured_(z), noiseModel_(model), func_(func) {} virtual ~FunctorizedFactor() {} /// @return a deep copy of this factor virtual NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( - NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); + NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); } Vector evaluateError(const T ¶ms, boost::optional H = boost::none) const { - typename FUNCTOR::return_type x = func_(params, H); - Vector error = traits::Local(measured_, x); + R x = func_(params, H); + Vector error = traits::Local(measured_, x); return error; } @@ -110,22 +102,21 @@ public: Base::print(s, keyFormatter); std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" << keyFormatter(this->key()) << ")" << std::endl; - traits::Print(measured_, " measurement: "); + traits::Print(measured_, " measurement: "); std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose() << std::endl; } virtual bool equals(const NonlinearFactor &other, double tol = 1e-9) const { - const FunctorizedFactor *e = - dynamic_cast *>(&other); + const FunctorizedFactor *e = + dynamic_cast *>(&other); const bool base = Base::equals(*e, tol); return e && Base::equals(other, tol) && - traits::Equals(this->measured_, e->measured_, - tol); + traits::Equals(this->measured_, e->measured_, tol); } /// @} -private: + private: /** Serialization function */ friend class boost::serialization::access; template @@ -138,8 +129,8 @@ private: }; /// traits -template -struct traits> - : public Testable> {}; +template +struct traits> + : public Testable> {}; -} // namespace gtsam +} // namespace gtsam diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp index 9393a4410..9ff6b8e24 100644 --- a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -17,13 +17,12 @@ * @brief unit tests for FunctorizedFactor class */ +#include #include #include #include #include -#include - using namespace std; using namespace gtsam; @@ -32,9 +31,9 @@ auto model = noiseModel::Isotropic::Sigma(9, 1); /// Functor that takes a matrix and multiplies every element by m class MultiplyFunctor { - double m_; ///< simple multiplier + double m_; ///< simple multiplier -public: + public: using argument_type = Matrix; using return_type = Matrix; @@ -42,32 +41,33 @@ public: Matrix operator()(const Matrix &X, OptionalJacobian<-1, -1> H = boost::none) const { - if (H) - *H = m_ * Matrix::Identity(X.rows() * X.cols(), X.rows() * X.cols()); + if (H) *H = m_ * Matrix::Identity(X.rows() * X.cols(), X.rows() * X.cols()); return m_ * X; } }; +/* ************************************************************************* */ TEST(FunctorizedFactor, Identity) { - Matrix X = Matrix::Identity(3, 3), measurement = Matrix::Identity(3, 3); double multiplier = 1.0; - FunctorizedFactor factor(key, measurement, model, - multiplier); + FunctorizedFactor factor(key, measurement, model, + MultiplyFunctor(multiplier)); Vector error = factor.evaluateError(X); EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } +/* ************************************************************************* */ TEST(FunctorizedFactor, Multiply2) { double multiplier = 2.0; Matrix X = Matrix::Identity(3, 3); Matrix measurement = multiplier * Matrix::Identity(3, 3); - FunctorizedFactor factor(key, measurement, model, multiplier); + FunctorizedFactor factor(key, measurement, model, + MultiplyFunctor(multiplier)); Vector error = factor.evaluateError(X); @@ -79,10 +79,10 @@ TEST(FunctorizedFactor, Equality) { double multiplier = 2.0; - FunctorizedFactor factor1(key, measurement, model, - multiplier); - FunctorizedFactor factor2(key, measurement, model, - multiplier); + FunctorizedFactor factor1(key, measurement, model, + MultiplyFunctor(multiplier)); + FunctorizedFactor factor2(key, measurement, model, + MultiplyFunctor(multiplier)); EXPECT(factor1.equals(factor2)); } @@ -94,7 +94,8 @@ TEST(FunctorizedFactor, Jacobians) { double multiplier = 2.0; - FunctorizedFactor factor(key, X, model, multiplier); + FunctorizedFactor factor(key, X, model, + MultiplyFunctor(multiplier)); Values values; values.insert(key, X); @@ -103,12 +104,14 @@ TEST(FunctorizedFactor, Jacobians) { EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5); } +/* ************************************************************************* */ TEST(FunctorizedFactor, Print) { Matrix X = Matrix::Identity(2, 2); double multiplier = 2.0; - FunctorizedFactor factor(key, X, model, multiplier); + FunctorizedFactor factor(key, X, model, + MultiplyFunctor(multiplier)); // redirect output to buffer so we can compare stringstream buffer; @@ -120,18 +123,56 @@ TEST(FunctorizedFactor, Print) { string actual = buffer.str(); cout.rdbuf(old); - string expected = " keys = { X0 }\n" - " noise model: unit (9) \n" - "FunctorizedFactor(X0)\n" - " measurement: [\n" - " 1, 0;\n" - " 0, 1\n" - "]\n" - " noise model sigmas: 1 1 1 1 1 1 1 1 1\n"; + string expected = + " keys = { X0 }\n" + " noise model: unit (9) \n" + "FunctorizedFactor(X0)\n" + " measurement: [\n" + " 1, 0;\n" + " 0, 1\n" + "]\n" + " noise model sigmas: 1 1 1 1 1 1 1 1 1\n"; CHECK_EQUAL(expected, actual); } +/* ************************************************************************* */ +// Test factor using a std::function type. +TEST(FunctorizedFactor, Functional) { + double multiplier = 2.0; + Matrix X = Matrix::Identity(3, 3); + Matrix measurement = multiplier * Matrix::Identity(3, 3); + + std::function)> functional = + MultiplyFunctor(multiplier); + FunctorizedFactor factor(key, measurement, model, functional); + + Vector error = factor.evaluateError(X); + + EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); +} + +/* ************************************************************************* */ +TEST(FunctorizedFactor, Lambda) { + double multiplier = 2.0; + Matrix X = Matrix::Identity(3, 3); + Matrix measurement = multiplier * Matrix::Identity(3, 3); + + auto lambda = [multiplier](const Matrix &X, + OptionalJacobian<-1, -1> H = boost::none) { + if (H) + *H = multiplier * + Matrix::Identity(X.rows() * X.cols(), X.rows() * X.cols()); + return multiplier * X; + }; + // FunctorizedFactor factor(key, measurement, model, lambda); + auto factor = FunctorizedFactor(key, measurement, model, lambda); + + Vector error = factor.evaluateError(X); + + EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); +} + /* ************************************************************************* */ int main() { From 30ffcdd1371985b5415e7b22918c65ecbc42789e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 6 Jul 2020 21:48:51 -0400 Subject: [PATCH 054/120] Simplified FunctorizedFactor By adding the helper function MakeFunctorizedFactor, we now only need to provide the argument type in the template parameter list. This considerably simplifies the factor declaration, while removing the need for argument type and return type in the functor definition. Also added tests for std::function and lambda functions. --- gtsam/nonlinear/FunctorizedFactor.h | 38 ++++++++++----- .../nonlinear/tests/testFunctorizedFactor.cpp | 47 ++++++++++--------- 2 files changed, 50 insertions(+), 35 deletions(-) diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index c88579587..a83198967 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -25,8 +25,8 @@ namespace gtsam { /** - * Factor which evaluates functor and uses the result to compute - * error on provided measurement. + * Factor which evaluates provided unary functor and uses the result to compute + * error with respect to the provided measurement. * * Template parameters are * @param R: The return type of the functor after evaluation. @@ -40,13 +40,12 @@ namespace gtsam { * class MultiplyFunctor { * double m_; ///< simple multiplier * public: - * using argument_type = Matrix; - * using return_type = Matrix; * MultiplyFunctor(double m) : m_(m) {} * Matrix operator()(const Matrix &X, * OptionalJacobian<-1, -1> H = boost::none) const { - * if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), - * X.rows()*X.cols()); return m_ * X; + * if (H) + * *H = m_ * Matrix::Identity(X.rows()*X.cols(), X.rows()*X.cols()); + * return m_ * X; * } * }; * @@ -72,7 +71,7 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { /** Construct with given x and the parameters of the basis * * @param key: Factor key - * @param z: Measurement object of type R + * @param z: Measurement object of same type as that returned by functor * @param model: Noise model * @param func: The instance of the functor object */ @@ -85,7 +84,7 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { /// @return a deep copy of this factor virtual NonlinearFactor::shared_ptr clone() const { return boost::static_pointer_cast( - NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); + NonlinearFactor::shared_ptr(new FunctorizedFactor(*this))); } Vector evaluateError(const T ¶ms, @@ -108,8 +107,8 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { } virtual bool equals(const NonlinearFactor &other, double tol = 1e-9) const { - const FunctorizedFactor *e = - dynamic_cast *>(&other); + const FunctorizedFactor *e = + dynamic_cast *>(&other); const bool base = Base::equals(*e, tol); return e && Base::equals(other, tol) && traits::Equals(this->measured_, e->measured_, tol); @@ -129,8 +128,21 @@ class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { }; /// traits -template -struct traits> - : public Testable> {}; +template +struct traits> + : public Testable> {}; + +/** + * Helper function to create a functorized factor. + * + * Uses function template deduction to identify return type and functor type, so + * template list only needs the functor argument type. + */ +template +FunctorizedFactor MakeFunctorizedFactor(Key key, const R &z, + const SharedNoiseModel &model, + const FUNC func) { + return FunctorizedFactor(key, z, model, func); +} } // namespace gtsam diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp index 9ff6b8e24..12dd6b91c 100644 --- a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp +++ b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp @@ -34,9 +34,6 @@ class MultiplyFunctor { double m_; ///< simple multiplier public: - using argument_type = Matrix; - using return_type = Matrix; - MultiplyFunctor(double m) : m_(m) {} Matrix operator()(const Matrix &X, @@ -47,13 +44,13 @@ class MultiplyFunctor { }; /* ************************************************************************* */ +// Test identity operation for FunctorizedFactor. TEST(FunctorizedFactor, Identity) { Matrix X = Matrix::Identity(3, 3), measurement = Matrix::Identity(3, 3); double multiplier = 1.0; - - FunctorizedFactor factor(key, measurement, model, - MultiplyFunctor(multiplier)); + auto functor = MultiplyFunctor(multiplier); + auto factor = MakeFunctorizedFactor(key, measurement, model, functor); Vector error = factor.evaluateError(X); @@ -61,41 +58,45 @@ TEST(FunctorizedFactor, Identity) { } /* ************************************************************************* */ +// Test FunctorizedFactor with multiplier value of 2. TEST(FunctorizedFactor, Multiply2) { double multiplier = 2.0; Matrix X = Matrix::Identity(3, 3); Matrix measurement = multiplier * Matrix::Identity(3, 3); - FunctorizedFactor factor(key, measurement, model, - MultiplyFunctor(multiplier)); + auto factor = MakeFunctorizedFactor(key, measurement, model, + MultiplyFunctor(multiplier)); Vector error = factor.evaluateError(X); EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } +/* ************************************************************************* */ +// Test equality function for FunctorizedFactor. TEST(FunctorizedFactor, Equality) { Matrix measurement = Matrix::Identity(2, 2); double multiplier = 2.0; - FunctorizedFactor factor1(key, measurement, model, - MultiplyFunctor(multiplier)); - FunctorizedFactor factor2(key, measurement, model, - MultiplyFunctor(multiplier)); + auto factor1 = MakeFunctorizedFactor(key, measurement, model, + MultiplyFunctor(multiplier)); + auto factor2 = MakeFunctorizedFactor(key, measurement, model, + MultiplyFunctor(multiplier)); EXPECT(factor1.equals(factor2)); } -//****************************************************************************** +/* *************************************************************************** */ +// Test Jacobians of FunctorizedFactor. TEST(FunctorizedFactor, Jacobians) { Matrix X = Matrix::Identity(3, 3); Matrix actualH; double multiplier = 2.0; - FunctorizedFactor factor(key, X, model, - MultiplyFunctor(multiplier)); + auto factor = + MakeFunctorizedFactor(key, X, model, MultiplyFunctor(multiplier)); Values values; values.insert(key, X); @@ -105,13 +106,14 @@ TEST(FunctorizedFactor, Jacobians) { } /* ************************************************************************* */ +// Test print result of FunctorizedFactor. TEST(FunctorizedFactor, Print) { Matrix X = Matrix::Identity(2, 2); double multiplier = 2.0; - FunctorizedFactor factor(key, X, model, - MultiplyFunctor(multiplier)); + auto factor = + MakeFunctorizedFactor(key, X, model, MultiplyFunctor(multiplier)); // redirect output to buffer so we can compare stringstream buffer; @@ -137,7 +139,7 @@ TEST(FunctorizedFactor, Print) { } /* ************************************************************************* */ -// Test factor using a std::function type. +// Test FunctorizedFactor using a std::function type. TEST(FunctorizedFactor, Functional) { double multiplier = 2.0; Matrix X = Matrix::Identity(3, 3); @@ -145,7 +147,8 @@ TEST(FunctorizedFactor, Functional) { std::function)> functional = MultiplyFunctor(multiplier); - FunctorizedFactor factor(key, measurement, model, functional); + auto factor = + MakeFunctorizedFactor(key, measurement, model, functional); Vector error = factor.evaluateError(X); @@ -153,6 +156,7 @@ TEST(FunctorizedFactor, Functional) { } /* ************************************************************************* */ +// Test FunctorizedFactor with a lambda function. TEST(FunctorizedFactor, Lambda) { double multiplier = 2.0; Matrix X = Matrix::Identity(3, 3); @@ -166,15 +170,14 @@ TEST(FunctorizedFactor, Lambda) { return multiplier * X; }; // FunctorizedFactor factor(key, measurement, model, lambda); - auto factor = FunctorizedFactor(key, measurement, model, lambda); + auto factor = MakeFunctorizedFactor(key, measurement, model, lambda); Vector error = factor.evaluateError(X); EXPECT(assert_equal(Vector::Zero(9), error, 1e-9)); } -/* ************************************************************************* - */ +/* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); From 66570469c5f890af0245ec0b1334c9a9c1294782 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 7 Jul 2020 17:38:27 -0400 Subject: [PATCH 055/120] fix working directory for python install target --- cython/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt index 65a9e9c62..221025575 100644 --- a/cython/CMakeLists.txt +++ b/cython/CMakeLists.txt @@ -7,7 +7,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX) set(python_install_target python-install) add_custom_target(${python_install_target} COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_CYTHON_INSTALL_PATH}/setup.py install - WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_FULLPATH}) + WORKING_DIRECTORY ${GTSAM_CYTHON_INSTALL_PATH}) # build and include the eigency version of eigency add_subdirectory(gtsam_eigency) From aaddf52cb102f2a5ab5440c807a1c0871ff81246 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 8 Jul 2020 12:23:01 -0400 Subject: [PATCH 056/120] Abstracted out serialization code for PreintegrationBase --- gtsam/navigation/ManifoldPreintegration.h | 4 +--- gtsam/navigation/PreintegrationBase.h | 10 ++++++++++ gtsam/navigation/TangentPreintegration.h | 4 +--- 3 files changed, 12 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h index 22897b9d4..97ad04744 100644 --- a/gtsam/navigation/ManifoldPreintegration.h +++ b/gtsam/navigation/ManifoldPreintegration.h @@ -118,10 +118,8 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; - ar & BOOST_SERIALIZATION_NVP(p_); - ar & BOOST_SERIALIZATION_NVP(deltaTij_); + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); ar & BOOST_SERIALIZATION_NVP(deltaXij_); - ar & BOOST_SERIALIZATION_NVP(biasHat_); ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size())); ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size())); ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size())); diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h index eb30c1f13..29d7814b5 100644 --- a/gtsam/navigation/PreintegrationBase.h +++ b/gtsam/navigation/PreintegrationBase.h @@ -213,6 +213,16 @@ class GTSAM_EXPORT PreintegrationBase { /// @} #endif + private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int /*version*/) { + ar & BOOST_SERIALIZATION_NVP(p_); + ar & BOOST_SERIALIZATION_NVP(biasHat_); + ar & BOOST_SERIALIZATION_NVP(deltaTij_); + } + public: GTSAM_MAKE_ALIGNED_OPERATOR_NEW }; diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h index edf76e562..99aa10b3f 100644 --- a/gtsam/navigation/TangentPreintegration.h +++ b/gtsam/navigation/TangentPreintegration.h @@ -132,9 +132,7 @@ private: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; - ar & BOOST_SERIALIZATION_NVP(p_); - ar & BOOST_SERIALIZATION_NVP(biasHat_); - ar & BOOST_SERIALIZATION_NVP(deltaTij_); + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size())); ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size())); ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size())); From 8d921c82a0af925586f1a3e4f58640ad47afa4db Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 8 Jul 2020 16:10:33 -0400 Subject: [PATCH 057/120] Updated PreintegratedImuMeasurements docstring --- gtsam/navigation/ImuFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 8e3f8f0a4..b5cff8147 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -87,8 +87,8 @@ public: /** * Constructor, initializes the class with no measurements - * @param bias Current estimate of acceleration and rotation rate biases - * @param p Parameters, typically fixed in a single application + * @param p Parameters, typically fixed in a single application + * @param biasHat Current estimate of acceleration and rotation rate biases */ PreintegratedImuMeasurements(const boost::shared_ptr& p, const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) : From f8b48db581730ea484d7307cdac685dcf8b545f9 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Wed, 8 Jul 2020 17:10:43 -0400 Subject: [PATCH 058/120] Fix lambda check in logging optimizer --- cython/gtsam/utils/logging_optimizer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cython/gtsam/utils/logging_optimizer.py b/cython/gtsam/utils/logging_optimizer.py index b201bb8aa..34f0fe5c9 100644 --- a/cython/gtsam/utils/logging_optimizer.py +++ b/cython/gtsam/utils/logging_optimizer.py @@ -50,5 +50,5 @@ def gtsam_optimize(optimizer: NonlinearOptimizer, def check_convergence(optimizer, current_error, new_error): return (optimizer.iterations() >= params.getMaxIterations()) or ( gtsam.checkConvergence(params.getRelativeErrorTol(), params.getAbsoluteErrorTol(), params.getErrorTol(), - current_error, new_error)) + current_error, new_error)) or (optimizer.lambda_() > params.getlambdaUpperBound()) optimize(optimizer, check_convergence, hook) From cc2456678fb97a1d912f8f419b945a46efba9730 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 8 Jul 2020 23:37:32 -0400 Subject: [PATCH 059/120] Replace scoped name with direct name and instantiate base class in constructor --- gtsam/navigation/PreintegratedRotation.cpp | 6 +++--- gtsam/navigation/PreintegrationParams.cpp | 6 +++--- gtsam/navigation/PreintegrationParams.h | 13 +++++++------ 3 files changed, 13 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp index 8c29d85dd..c5d48b734 100644 --- a/gtsam/navigation/PreintegratedRotation.cpp +++ b/gtsam/navigation/PreintegratedRotation.cpp @@ -25,7 +25,7 @@ using namespace std; namespace gtsam { -void PreintegratedRotation::Params::print(const string& s) const { +void PreintegratedRotationParams::print(const string& s) const { cout << s << endl; cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl; if (omegaCoriolis) @@ -34,8 +34,8 @@ void PreintegratedRotation::Params::print(const string& s) const { body_P_sensor->print("body_P_sensor"); } -bool PreintegratedRotation::Params::equals( - const PreintegratedRotation::Params& other, double tol) const { +bool PreintegratedRotationParams::equals( + const PreintegratedRotationParams& other, double tol) const { if (body_P_sensor) { if (!other.body_P_sensor || !assert_equal(*body_P_sensor, *other.body_P_sensor, tol)) diff --git a/gtsam/navigation/PreintegrationParams.cpp b/gtsam/navigation/PreintegrationParams.cpp index 61cd1617c..2298bb696 100644 --- a/gtsam/navigation/PreintegrationParams.cpp +++ b/gtsam/navigation/PreintegrationParams.cpp @@ -27,7 +27,7 @@ namespace gtsam { //------------------------------------------------------------------------------ void PreintegrationParams::print(const string& s) const { - PreintegratedRotation::Params::print(s); + PreintegratedRotationParams::print(s); cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]" << endl; cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]" @@ -39,10 +39,10 @@ void PreintegrationParams::print(const string& s) const { } //------------------------------------------------------------------------------ -bool PreintegrationParams::equals(const PreintegratedRotation::Params& other, +bool PreintegrationParams::equals(const PreintegratedRotationParams& other, double tol) const { auto e = dynamic_cast(&other); - return e != nullptr && PreintegratedRotation::Params::equals(other, tol) && + return e != nullptr && PreintegratedRotationParams::equals(other, tol) && use2ndOrderCoriolis == e->use2ndOrderCoriolis && equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance, tol) && diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index 4bff625ca..de9950e7d 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -31,7 +31,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { /// Default constructor for serialization only PreintegrationParams() - : accelerometerCovariance(I_3x3), + : PreintegratedRotationParams(), + accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis(false), n_gravity(0, 0, -1) {} @@ -39,7 +40,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { /// The Params constructor insists on getting the navigation frame gravity vector /// For convenience, two commonly used conventions are provided by named constructors below PreintegrationParams(const Vector3& n_gravity) - : accelerometerCovariance(I_3x3), + : PreintegratedRotationParams(), + accelerometerCovariance(I_3x3), integrationCovariance(I_3x3), use2ndOrderCoriolis(false), n_gravity(n_gravity) {} @@ -54,8 +56,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams { return boost::shared_ptr(new PreintegrationParams(Vector3(0, 0, -g))); } - void print(const std::string& s) const; - bool equals(const PreintegratedRotation::Params& other, double tol) const; + void print(const std::string& s="") const; + bool equals(const PreintegratedRotationParams& other, double tol) const; void setAccelerometerCovariance(const Matrix3& cov) { accelerometerCovariance = cov; } void setIntegrationCovariance(const Matrix3& cov) { integrationCovariance = cov; } @@ -73,8 +75,7 @@ protected: template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; - ar & boost::serialization::make_nvp("PreintegratedRotation_Params", - boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotationParams); ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size())); ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size())); ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); From 95b4a49f643efe0a8bdae4c04132cf6b110deab2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 00:22:05 -0400 Subject: [PATCH 060/120] Major updates to CombinedImuFactor to make it Testable as well as serializable --- gtsam/navigation/CombinedImuFactor.cpp | 34 ++++++++ gtsam/navigation/CombinedImuFactor.h | 109 +++++++++++++++++++------ 2 files changed, 116 insertions(+), 27 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 149067269..7a8c73013 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -17,9 +17,11 @@ * @author Vadim Indelman * @author David Jensen * @author Frank Dellaert + * @author Varun Agrawal **/ #include +#include /* External or standard includes */ #include @@ -28,6 +30,31 @@ namespace gtsam { using namespace std; +//------------------------------------------------------------------------------ +// Inner class PreintegrationCombinedParams +//------------------------------------------------------------------------------ +void PreintegrationCombinedParams::print(const string& s) const { + PreintegrationParams::print(s); + cout << "biasAccCovariance:\n[\n" << biasAccCovariance << "\n]" + << endl; + cout << "biasOmegaCovariance:\n[\n" << biasOmegaCovariance << "\n]" + << endl; + cout << "biasAccOmegaInt:\n[\n" << biasAccOmegaInt << "\n]" + << endl; +} + +//------------------------------------------------------------------------------ +bool PreintegrationCombinedParams::equals(const PreintegrationParams& other, + double tol) const { + auto e = dynamic_cast(&other); + return e != nullptr && PreintegrationParams::equals(other, tol) && + equal_with_abs_tol(biasAccCovariance, e->biasAccCovariance, + tol) && + equal_with_abs_tol(biasOmegaCovariance, e->biasOmegaCovariance, + tol) && + equal_with_abs_tol(biasAccOmegaInt, e->biasAccOmegaInt, tol); +} + //------------------------------------------------------------------------------ // Inner class PreintegratedCombinedMeasurements //------------------------------------------------------------------------------ @@ -242,6 +269,13 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, return r; } +//------------------------------------------------------------------------------ +std::ostream& operator<<(std::ostream& os, const CombinedImuFactor& f) { + f._PIM_.print("combined preintegrated measurements:\n"); + os << " noise model sigmas: " << f.noiseModel_->sigmas().transpose(); + return os; +} + //------------------------------------------------------------------------------ #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 CombinedImuFactor::CombinedImuFactor( diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 6b3bf979a..7a3a801f1 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -17,6 +17,7 @@ * @author Vadim Indelman * @author David Jensen * @author Frank Dellaert + * @author Varun Agrawal **/ #pragma once @@ -26,6 +27,7 @@ #include #include #include +#include namespace gtsam { @@ -61,10 +63,19 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInt; ///< covariance of bias used for pre-integration + /// Default constructor makes unitialized params struct. + /// Used for serialization. + PreintegrationCombinedParams() + : PreintegrationParams(), + biasAccCovariance(I_3x3), + biasOmegaCovariance(I_3x3), + biasAccOmegaInt(I_6x6) {} + /// See two named constructors below for good values of n_gravity in body frame -PreintegrationCombinedParams(const Vector3& n_gravity) : - PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), biasOmegaCovariance( - I_3x3), biasAccOmegaInt(I_6x6) { + PreintegrationCombinedParams(const Vector3& n_gravity) : + PreintegrationParams(n_gravity), biasAccCovariance(I_3x3), + biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) { + } // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis @@ -77,6 +88,9 @@ PreintegrationCombinedParams(const Vector3& n_gravity) : return boost::shared_ptr(new PreintegrationCombinedParams(Vector3(0, 0, -g))); } + void print(const std::string& s="") const; + bool equals(const PreintegrationParams& other, double tol) const; + void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; } void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; } void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInt=cov; } @@ -86,24 +100,25 @@ PreintegrationCombinedParams(const Vector3& n_gravity) : const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInt; } private: - /// Default constructor makes unitialized params struct - PreintegrationCombinedParams() {} /** Serialization function */ friend class boost::serialization::access; template - void serialize(ARCHIVE& ar, const unsigned int /*version*/) { - ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params); - ar& BOOST_SERIALIZATION_NVP(biasAccCovariance); - ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance); - ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt); + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + namespace bs = ::boost::serialization; + ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams); + ar & bs::make_nvp("biasAccCovariance", + bs::make_array(biasAccCovariance.data(), biasAccCovariance.size())); + ar & bs::make_nvp("biasOmegaCovariance", + bs::make_array(biasOmegaCovariance.data(), biasOmegaCovariance.size())); + ar & bs::make_nvp("biasAccOmegaInt", bs::make_array(biasAccOmegaInt.data(), + biasAccOmegaInt.size())); } public: GTSAM_MAKE_ALIGNED_OPERATOR_NEW }; - /** * PreintegratedCombinedMeasurements integrates the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -128,7 +143,6 @@ public: */ Eigen::Matrix preintMeasCov_; - friend class CombinedImuFactor; public: @@ -136,11 +150,14 @@ public: /// @{ /// Default constructor only for serialization and Cython wrapper - PreintegratedCombinedMeasurements() {} + PreintegratedCombinedMeasurements() { + preintMeasCov_.setZero(); + } /** * Default constructor, initializes the class with no measurements - * @param bias Current estimate of acceleration and rotation rate biases + * @param p Parameters, typically fixed in a single application + * @param biasHat Current estimate of acceleration and rotation rate biases */ PreintegratedCombinedMeasurements( const boost::shared_ptr& p, @@ -149,6 +166,19 @@ public: preintMeasCov_.setZero(); } + /** + * Construct preintegrated directly from members: base class and preintMeasCov + * @param base PreintegrationType instance + * @param preintMeasCov Covariance matrix used in noise model. + */ + PreintegratedCombinedMeasurements(const PreintegrationType& base, const Eigen::Matrix& preintMeasCov) + : PreintegrationType(base), + preintMeasCov_(preintMeasCov) { + } + + /// Virtual destructor + virtual ~PreintegratedCombinedMeasurements() {} + /// @} /// @name Basic utilities @@ -158,20 +188,25 @@ public: void resetIntegration() override; /// const reference to params, shadows definition in base class - Params& p() const { return *boost::static_pointer_cast(this->p_);} + Params& p() const { return *boost::static_pointer_cast(this->p_); } /// @} /// @name Access instance variables /// @{ + /// Return pre-integrated measurement covariance Matrix preintMeasCov() const { return preintMeasCov_; } /// @} /// @name Testable /// @{ + /// print void print(const std::string& s = "Preintegrated Measurements:") const override; - bool equals(const PreintegratedCombinedMeasurements& expected, double tol = 1e-9) const; + /// equals + bool equals(const PreintegratedCombinedMeasurements& expected, + double tol = 1e-9) const; /// @} + /// @name Main functionality /// @{ @@ -205,8 +240,10 @@ public: friend class boost::serialization::access; template void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + namespace bs = ::boost::serialization; ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType); - ar& BOOST_SERIALIZATION_NVP(preintMeasCov_); + ar& bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), + preintMeasCov_.size())); } public: @@ -244,9 +281,6 @@ private: PreintegratedCombinedMeasurements _PIM_; - /** Default constructor - only use for serialization */ - CombinedImuFactor() {} - public: /** Shorthand for a smart pointer to a factor */ @@ -256,6 +290,9 @@ public: typedef boost::shared_ptr shared_ptr; #endif + /** Default constructor - only use for serialization */ + CombinedImuFactor() {} + /** * Constructor * @param pose_i Previous pose key @@ -277,12 +314,17 @@ public: /** implement functions needed for Testable */ + /// @name Testable + /// @{ + GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, + const CombinedImuFactor&); /// print virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /// equals virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const; + /// @} /** Access the preintegrated measurements. */ @@ -321,14 +363,12 @@ public: #endif private: - /** Serialization function */ friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar & boost::serialization::make_nvp("NoiseModelFactor6", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(_PIM_); + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(NoiseModelFactor6); + ar& BOOST_SERIALIZATION_NVP(_PIM_); } public: @@ -336,4 +376,19 @@ public: }; // class CombinedImuFactor -} /// namespace gtsam +template <> +struct traits + : public Testable {}; + +template <> +struct traits + : public Testable {}; + +template <> +struct traits : public Testable {}; + +} // namespace gtsam + +/// Add Boost serialization export for derived class +BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams"); +// BOOST_CLASS_EXPORT_GUID(gtsam::CombinedImuFactor, "gtsam_CombinedImuFactor"); From d519d24b67bed4495f23098ec458102fd2e575e7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 00:22:13 -0400 Subject: [PATCH 061/120] Fix typo --- gtsam/navigation/ImuFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index b5cff8147..408cefdf0 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -59,7 +59,7 @@ typedef ManifoldPreintegration PreintegrationType; */ /** - * PreintegratedIMUMeasurements accumulates (integrates) the IMU measurements + * PreintegratedImuMeasurements accumulates (integrates) the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. * The measurements are then used to build the Preintegrated IMU factor. * Integration is done incrementally (ideally, one integrates the measurement From 23e2b29dbe428ccda610cff133142fbc04cd533f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 00:22:42 -0400 Subject: [PATCH 062/120] Added and updated serialization tests to include all IMU factors --- .../tests/testImuFactorSerialization.cpp | 60 +++++++++++++++---- 1 file changed, 49 insertions(+), 11 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp index 59d0ac199..ed72e18e9 100644 --- a/gtsam/navigation/tests/testImuFactorSerialization.cpp +++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp @@ -16,15 +16,19 @@ * @author Frank Dellaert * @author Richard Roberts * @author Stephen Williams + * @author Varun Agrawal */ -#include -#include #include +#include +#include +#include + #include using namespace std; using namespace gtsam; +using namespace gtsam::serializationTestHelpers; BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); @@ -38,23 +42,23 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); -TEST(ImuFactor, serialization) { - using namespace gtsam::serializationTestHelpers; - +template +P getPreintegratedMeasurements() { // Create default parameters with Z-down and above noise paramaters - auto p = PreintegrationParams::MakeSharedD(9.81); - p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0,0,0)); + auto p = P::Params::MakeSharedD(9.81); + p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0, 0, 0)); p->accelerometerCovariance = 1e-7 * I_3x3; p->gyroscopeCovariance = 1e-8 * I_3x3; p->integrationCovariance = 1e-9 * I_3x3; const double deltaT = 0.005; - const imuBias::ConstantBias priorBias( - Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot) - PreintegratedImuMeasurements pim(p, priorBias); + // Biases (acc, rot) + const imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); - // measurements are needed for non-inf noise model, otherwise will throw err + P pim(p, priorBias); + + // measurements are needed for non-inf noise model, otherwise will throw error // when deserialize const Vector3 measuredOmega(0, 0.01, 0); const Vector3 measuredAcc(0, 0, -9.81); @@ -62,6 +66,16 @@ TEST(ImuFactor, serialization) { for (int j = 0; j < 200; ++j) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT); + return pim; +} + +TEST(ImuFactor, serialization) { + auto pim = getPreintegratedMeasurements(); + + EXPECT(equalsObj(pim)); + EXPECT(equalsXML(pim)); + EXPECT(equalsBinary(pim)); + ImuFactor factor(1, 2, 3, 4, 5, pim); EXPECT(equalsObj(factor)); @@ -69,6 +83,30 @@ TEST(ImuFactor, serialization) { EXPECT(equalsBinary(factor)); } +TEST(ImuFactor2, serialization) { + auto pim = getPreintegratedMeasurements(); + + ImuFactor2 factor(1, 2, 3, pim); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + +TEST(CombinedImuFactor, Serialization) { + auto pim = getPreintegratedMeasurements(); + + EXPECT(equalsObj(pim)); + EXPECT(equalsXML(pim)); + EXPECT(equalsBinary(pim)); + + const CombinedImuFactor factor(1, 2, 3, 4, 5, 6, pim); + + EXPECT(equalsObj(factor)); + EXPECT(equalsXML(factor)); + EXPECT(equalsBinary(factor)); +} + /* ************************************************************************* */ int main() { TestResult tr; From 4a0b031a2a07fa15dad643d091a6b3beb4f6bd2a Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Thu, 9 Jul 2020 14:26:18 -0400 Subject: [PATCH 063/120] add return value in gtsam_optimize --- cython/gtsam/utils/logging_optimizer.py | 1 + 1 file changed, 1 insertion(+) diff --git a/cython/gtsam/utils/logging_optimizer.py b/cython/gtsam/utils/logging_optimizer.py index 34f0fe5c9..3f0110945 100644 --- a/cython/gtsam/utils/logging_optimizer.py +++ b/cython/gtsam/utils/logging_optimizer.py @@ -52,3 +52,4 @@ def gtsam_optimize(optimizer: NonlinearOptimizer, gtsam.checkConvergence(params.getRelativeErrorTol(), params.getAbsoluteErrorTol(), params.getErrorTol(), current_error, new_error)) or (optimizer.lambda_() > params.getlambdaUpperBound()) optimize(optimizer, check_convergence, hook) + return optimizer.values() From 904ecf4f1f341db840f1edfed0e9e42fedef25d2 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 23:11:20 -0400 Subject: [PATCH 064/120] Use built in Matrix serialization --- gtsam/navigation/CombinedImuFactor.h | 18 ++++++------------ gtsam/navigation/ImuFactor.h | 2 +- gtsam/navigation/ManifoldPreintegration.h | 10 +++++----- gtsam/navigation/PreintegratedRotation.h | 2 +- gtsam/navigation/PreintegrationParams.h | 4 ++-- gtsam/navigation/TangentPreintegration.h | 6 +++--- 6 files changed, 18 insertions(+), 24 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 7a3a801f1..f47ce8846 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -63,11 +63,10 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix6 biasAccOmegaInt; ///< covariance of bias used for pre-integration - /// Default constructor makes unitialized params struct. + /// Default constructor makes uninitialized params struct. /// Used for serialization. PreintegrationCombinedParams() - : PreintegrationParams(), - biasAccCovariance(I_3x3), + : biasAccCovariance(I_3x3), biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) {} @@ -107,12 +106,9 @@ private: void serialize(ARCHIVE& ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams); - ar & bs::make_nvp("biasAccCovariance", - bs::make_array(biasAccCovariance.data(), biasAccCovariance.size())); - ar & bs::make_nvp("biasOmegaCovariance", - bs::make_array(biasOmegaCovariance.data(), biasOmegaCovariance.size())); - ar & bs::make_nvp("biasAccOmegaInt", bs::make_array(biasAccOmegaInt.data(), - biasAccOmegaInt.size())); + ar & BOOST_SERIALIZATION_NVP(biasAccCovariance); + ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance); + ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt); } public: @@ -242,8 +238,7 @@ public: void serialize(ARCHIVE& ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType); - ar& bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), - preintMeasCov_.size())); + ar& BOOST_SERIALIZATION_NVP(preintMeasCov_); } public: @@ -391,4 +386,3 @@ struct traits : public Testable {}; /// Add Boost serialization export for derived class BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams"); -// BOOST_CLASS_EXPORT_GUID(gtsam::CombinedImuFactor, "gtsam_CombinedImuFactor"); diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 408cefdf0..7e080ffd5 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -164,7 +164,7 @@ private: void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType); - ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size())); + ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); } }; diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h index 97ad04744..a290972e4 100644 --- a/gtsam/navigation/ManifoldPreintegration.h +++ b/gtsam/navigation/ManifoldPreintegration.h @@ -120,11 +120,11 @@ private: namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); ar & BOOST_SERIALIZATION_NVP(deltaXij_); - ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size())); - ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size())); - ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size())); - ar & bs::make_nvp("delVdelBiasAcc_", bs::make_array(delVdelBiasAcc_.data(), delVdelBiasAcc_.size())); - ar & bs::make_nvp("delVdelBiasOmega_", bs::make_array(delVdelBiasOmega_.data(), delVdelBiasOmega_.size())); + ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); + ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_); + ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_); + ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_); + ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_); } }; diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 12938a625..9346f749a 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -61,7 +61,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams { template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; - ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size())); + ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); } diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index de9950e7d..9ae66e678 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -76,8 +76,8 @@ protected: void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotationParams); - ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size())); - ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size())); + ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance); + ar & BOOST_SERIALIZATION_NVP(integrationCovariance); ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); ar & BOOST_SERIALIZATION_NVP(n_gravity); } diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h index 99aa10b3f..1b51b4e1e 100644 --- a/gtsam/navigation/TangentPreintegration.h +++ b/gtsam/navigation/TangentPreintegration.h @@ -133,9 +133,9 @@ private: void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase); - ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size())); - ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size())); - ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size())); + ar & BOOST_SERIALIZATION_NVP(preintegrated_); + ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_); + ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_); } public: From 018e6ba68cda05707fc250f3eab80c930710196f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 23:12:35 -0400 Subject: [PATCH 065/120] Generic Eigen::Matrix serialization for boost --- gtsam/base/Matrix.h | 41 ++++++++++++++++++++++++++++++++++------- 1 file changed, 34 insertions(+), 7 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index fa70e5b00..b1c6268a7 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -549,16 +549,32 @@ namespace boost { namespace serialization { // split version - sends sizes ahead - template - void save(Archive & ar, const gtsam::Matrix & m, unsigned int /*version*/) { + template + void save(Archive & ar, + const Eigen::Matrix & m, + const unsigned int /*version*/) { const size_t rows = m.rows(), cols = m.cols(); ar << BOOST_SERIALIZATION_NVP(rows); ar << BOOST_SERIALIZATION_NVP(cols); ar << make_nvp("data", make_array(m.data(), m.size())); } - template - void load(Archive & ar, gtsam::Matrix & m, unsigned int /*version*/) { + template + void load(Archive & ar, + Eigen::Matrix & m, + const unsigned int /*version*/) { size_t rows, cols; ar >> BOOST_SERIALIZATION_NVP(rows); ar >> BOOST_SERIALIZATION_NVP(cols); @@ -566,8 +582,19 @@ namespace boost { ar >> make_nvp("data", make_array(m.data(), m.size())); } + // templated version of BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix); + template + void serialize(Archive & ar, + Eigen::Matrix & m, + const unsigned int version) { + split_free(ar, m, version); + } + } // namespace serialization } // namespace boost - -BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Matrix); - From b1dda699a336ff868d498401b138869bbf9441b8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Jul 2020 23:49:23 -0400 Subject: [PATCH 066/120] add compiler flags to suppress warnings if built in release mode --- gtsam/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 3d1bbd2a7..2ca83e093 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -106,6 +106,11 @@ add_library(gtsam ${gtsam_srcs}) target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES}) target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES}) +if(${CMAKE_BUILD_TYPE} STREQUAL "Release") + # Suppress warnings if Release build + target_compile_options(gtsam PRIVATE -w) +endif() + # Apply build flags: gtsam_apply_build_flags(gtsam) From 10a131fc365146f970e33dc0c3939dc9189385f3 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 10 Jul 2020 00:19:54 -0400 Subject: [PATCH 067/120] Quote variable so it works on Windows --- gtsam/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 2ca83e093..c4ad0a755 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -106,7 +106,7 @@ add_library(gtsam ${gtsam_srcs}) target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES}) target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES}) -if(${CMAKE_BUILD_TYPE} STREQUAL "Release") +if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") # Suppress warnings if Release build target_compile_options(gtsam PRIVATE -w) endif() From b735174707aa379cdc47e3dce5a7c74f20e7c36f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 10 Jul 2020 10:03:38 -0400 Subject: [PATCH 068/120] use boost serialization macro instead of make_array --- gtsam/navigation/ImuFactor.h | 2 +- gtsam/navigation/ManifoldPreintegration.h | 10 +++++----- gtsam/navigation/PreintegratedRotation.h | 2 +- gtsam/navigation/PreintegrationParams.h | 4 ++-- gtsam/navigation/TangentPreintegration.h | 6 +++--- 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 8e3f8f0a4..a69fab6e9 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -164,7 +164,7 @@ private: void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType); - ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size())); + ar & BOOST_SERIALIZATION_NVP(preintMeasCov_); } }; diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h index 22897b9d4..ee983a78f 100644 --- a/gtsam/navigation/ManifoldPreintegration.h +++ b/gtsam/navigation/ManifoldPreintegration.h @@ -122,11 +122,11 @@ private: ar & BOOST_SERIALIZATION_NVP(deltaTij_); ar & BOOST_SERIALIZATION_NVP(deltaXij_); ar & BOOST_SERIALIZATION_NVP(biasHat_); - ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size())); - ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size())); - ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size())); - ar & bs::make_nvp("delVdelBiasAcc_", bs::make_array(delVdelBiasAcc_.data(), delVdelBiasAcc_.size())); - ar & bs::make_nvp("delVdelBiasOmega_", bs::make_array(delVdelBiasOmega_.data(), delVdelBiasOmega_.size())); + ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); + ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_); + ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_); + ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_); + ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_); } }; diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 12938a625..9346f749a 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -61,7 +61,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams { template void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; - ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size())); + ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); } diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h index 4bff625ca..d997ccbed 100644 --- a/gtsam/navigation/PreintegrationParams.h +++ b/gtsam/navigation/PreintegrationParams.h @@ -75,8 +75,8 @@ protected: namespace bs = ::boost::serialization; ar & boost::serialization::make_nvp("PreintegratedRotation_Params", boost::serialization::base_object(*this)); - ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size())); - ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size())); + ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance); + ar & BOOST_SERIALIZATION_NVP(integrationCovariance); ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis); ar & BOOST_SERIALIZATION_NVP(n_gravity); } diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h index edf76e562..29318a6bb 100644 --- a/gtsam/navigation/TangentPreintegration.h +++ b/gtsam/navigation/TangentPreintegration.h @@ -135,9 +135,9 @@ private: ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(biasHat_); ar & BOOST_SERIALIZATION_NVP(deltaTij_); - ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size())); - ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size())); - ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size())); + ar & BOOST_SERIALIZATION_NVP(preintegrated_); + ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_); + ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_); } public: From 3f4731a9482d71ce65174140713b9c0384a38eec Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Fri, 10 Jul 2020 15:00:57 -0400 Subject: [PATCH 069/120] Added wrapping for the PCG solver in Cython --- gtsam.h | 16 ++++++++++++++++ gtsam/linear/PCGSolver.cpp | 11 +++++++++++ gtsam/linear/PCGSolver.h | 4 ++++ 3 files changed, 31 insertions(+) diff --git a/gtsam.h b/gtsam.h index 614db91c7..d65186439 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1937,6 +1937,22 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete void print() const; }; +#include +virtual class PreconditionerParameters { + PreconditionerParameters(); +}; + +virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters { + DummyPreconditionerParameters(); +}; + +#include +virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters { + PCGSolverParameters(); + void print(string s); + void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner); +}; + #include virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { SubgraphSolverParameters(); diff --git a/gtsam/linear/PCGSolver.cpp b/gtsam/linear/PCGSolver.cpp index 08307c5ab..a7af7d8d8 100644 --- a/gtsam/linear/PCGSolver.cpp +++ b/gtsam/linear/PCGSolver.cpp @@ -45,6 +45,17 @@ PCGSolver::PCGSolver(const PCGSolverParameters &p) { preconditioner_ = createPreconditioner(p.preconditioner_); } +void PCGSolverParameters::setPreconditionerParams(const boost::shared_ptr preconditioner) { + preconditioner_ = preconditioner; +} + +void PCGSolverParameters::print(const std::string &s) const { + std::cout << s << std::endl;; + std::ostringstream os; + print(os); + std::cout << os.str() << std::endl; +} + /*****************************************************************************/ VectorValues PCGSolver::optimize(const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map &lambda, diff --git a/gtsam/linear/PCGSolver.h b/gtsam/linear/PCGSolver.h index f5b278ae5..3e72c7cbe 100644 --- a/gtsam/linear/PCGSolver.h +++ b/gtsam/linear/PCGSolver.h @@ -48,7 +48,11 @@ public: return *preconditioner_; } + void print(const std::string &s) const; + boost::shared_ptr preconditioner_; + + void setPreconditionerParams(const boost::shared_ptr preconditioner); }; /** From 7f293eb84e66b6468c92257e52741fbdfd8d13b0 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Fri, 10 Jul 2020 15:01:54 -0400 Subject: [PATCH 070/120] add comments --- gtsam/linear/PCGSolver.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/linear/PCGSolver.h b/gtsam/linear/PCGSolver.h index 3e72c7cbe..7752902ba 100644 --- a/gtsam/linear/PCGSolver.h +++ b/gtsam/linear/PCGSolver.h @@ -48,6 +48,7 @@ public: return *preconditioner_; } + // needed for python wrapper void print(const std::string &s) const; boost::shared_ptr preconditioner_; From 1fadf1e7ef032e5e6a6d74e5a1a5e8cf7865ce3d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 10 Jul 2020 21:43:30 -0400 Subject: [PATCH 071/120] suppress warnings only for 3rd party code for Release builds --- gtsam/CMakeLists.txt | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index c4ad0a755..a927ca3a0 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -15,7 +15,7 @@ set (gtsam_subdirs sfm slam smart - navigation + navigation ) set(gtsam_srcs) @@ -106,11 +106,6 @@ add_library(gtsam ${gtsam_srcs}) target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES}) target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES}) -if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") - # Suppress warnings if Release build - target_compile_options(gtsam PRIVATE -w) -endif() - # Apply build flags: gtsam_apply_build_flags(gtsam) @@ -191,11 +186,17 @@ install( list(APPEND GTSAM_EXPORTED_TARGETS gtsam) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) -# make sure that ccolamd compiles even in face of warnings +# Make sure that ccolamd compiles even in face of warnings +# and suppress all warnings from 3rd party code if Release build if(WIN32) - set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w") + set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w") else() + if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") + # Suppress all warnings from 3rd party sources. + set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w") + else() set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error") + endif() endif() # Create the matlab toolbox for the gtsam library From e41dbfc26cff7c0f6d0dd44ba61280a779438298 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 10 Jul 2020 21:45:01 -0400 Subject: [PATCH 072/120] fix init issues with Vector3, use static matrices where possible --- examples/IMUKittiExampleGPS.cpp | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/examples/IMUKittiExampleGPS.cpp b/examples/IMUKittiExampleGPS.cpp index 7cfccbc11..f1d89b47a 100644 --- a/examples/IMUKittiExampleGPS.cpp +++ b/examples/IMUKittiExampleGPS.cpp @@ -163,7 +163,7 @@ int main(int argc, char* argv[]) { vector gps_measurements; loadKittiData(kitti_calibration, imu_measurements, gps_measurements); - Vector6 BodyP = (Vector(6) << kitti_calibration.body_ptx, kitti_calibration.body_pty, kitti_calibration.body_ptz, + Vector6 BodyP = (Vector6() << kitti_calibration.body_ptx, kitti_calibration.body_pty, kitti_calibration.body_ptz, kitti_calibration.body_prx, kitti_calibration.body_pry, kitti_calibration.body_prz) .finished(); auto body_T_imu = Pose3::Expmap(BodyP); @@ -173,28 +173,29 @@ int main(int argc, char* argv[]) { } // Configure different variables - double t_offset = gps_measurements[0].time; + // double t_offset = gps_measurements[0].time; size_t first_gps_pose = 1; size_t gps_skip = 10; // Skip this many GPS measurements each time double g = 9.8; - auto w_coriolis = Vector3(); // zero vector + auto w_coriolis = Vector3::Zero(); // zero vector // Configure noise models - auto noise_model_gps = noiseModel::Diagonal::Precisions((Vector(6) << Vector3::Constant(0), + auto noise_model_gps = noiseModel::Diagonal::Precisions((Vector6() << Vector3::Constant(0), Vector3::Constant(1.0/0.07)) .finished()); // Set initial conditions for the estimated trajectory // initial pose is the reference frame (navigation frame) auto current_pose_global = Pose3(Rot3(), gps_measurements[first_gps_pose].position); - auto current_velocity_global = Vector3(); // the vehicle is stationary at the beginning at position 0,0,0 + // the vehicle is stationary at the beginning at position 0,0,0 + Vector3 current_velocity_global = Vector3::Zero(); auto current_bias = imuBias::ConstantBias(); // init with zero bias - auto sigma_init_x = noiseModel::Diagonal::Precisions((Vector(6) << Vector3::Constant(0), + auto sigma_init_x = noiseModel::Diagonal::Precisions((Vector6() << Vector3::Constant(0), Vector3::Constant(1.0)) .finished()); auto sigma_init_v = noiseModel::Diagonal::Sigmas(Vector3::Constant(1000.0)); - auto sigma_init_b = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.100), + auto sigma_init_b = noiseModel::Diagonal::Sigmas((Vector6() << Vector3::Constant(0.100), Vector3::Constant(5.00e-05)) .finished()); @@ -270,7 +271,7 @@ int main(int argc, char* argv[]) { previous_bias_key, *current_summarized_measurement); // Bias evolution as given in the IMU metadata - auto sigma_between_b = noiseModel::Diagonal::Sigmas((Vector(6) << + auto sigma_between_b = noiseModel::Diagonal::Sigmas((Vector6() << Vector3::Constant(sqrt(included_imu_measurement_count) * kitti_calibration.accelerometer_bias_sigma), Vector3::Constant(sqrt(included_imu_measurement_count) * kitti_calibration.gyroscope_bias_sigma)) .finished()); @@ -342,6 +343,11 @@ int main(int argc, char* argv[]) { auto pose_quat = pose.rotation().toQuaternion(); auto gps = gps_measurements[i].position; + cout << "State at #" << i << endl; + cout << "Pose:" << endl << pose << endl; + cout << "Velocity:" << endl << velocity << endl; + cout << "Bias:" << endl << bias << endl; + fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", gps_measurements[i].time, pose.x(), pose.y(), pose.z(), From 09ddd433a60f4c89286202d08ade957bbd06269b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 10 Jul 2020 21:51:36 -0400 Subject: [PATCH 073/120] added note about code source and eigen resize for both static and dynamic matrices --- gtsam/base/Matrix.h | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index b1c6268a7..37ae1dd9a 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -548,6 +548,20 @@ GTSAM_EXPORT Vector columnNormSquare(const Matrix &A); namespace boost { namespace serialization { + /** + * Ref. https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063 + * + * Eigen supports calling resize() on both static and dynamic matrices. + * This allows for a uniform API, with resize having no effect if the static matrix + * is already the correct size. + * https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing + * + * We use all the Matrix template parameters to ensure wide compatibility. + * + * eigen_typekit in ROS uses the same code + * http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html + */ + // split version - sends sizes ahead template Date: Fri, 10 Jul 2020 23:01:18 -0400 Subject: [PATCH 074/120] Explicit type definition to handle warning --- examples/SFMExample.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp index 7f0c79e0e..fddca8169 100644 --- a/examples/SFMExample.cpp +++ b/examples/SFMExample.cpp @@ -109,7 +109,7 @@ int main(int argc, char* argv[]) { Symbol('x', i), corrupted_pose); } for (size_t j = 0; j < points.size(); ++j) { - auto corrupted_point = points[j] + Point3(-0.25, 0.20, 0.15); + Point3 corrupted_point = points[j] + Point3(-0.25, 0.20, 0.15); initialEstimate.insert(Symbol('l', j), corrupted_point); } initialEstimate.print("Initial Estimates:\n"); From 8e5f1447e3d57b4722f1089b1fc5152e966cfc00 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 11 Jul 2020 11:54:40 -0400 Subject: [PATCH 075/120] Add check to ensure we are calling lambda on a LM --- cython/gtsam/tests/test_logging_optimizer.py | 15 +++++++++++++++ cython/gtsam/utils/logging_optimizer.py | 3 ++- 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/cython/gtsam/tests/test_logging_optimizer.py b/cython/gtsam/tests/test_logging_optimizer.py index 69665db65..2560a72a2 100644 --- a/cython/gtsam/tests/test_logging_optimizer.py +++ b/cython/gtsam/tests/test_logging_optimizer.py @@ -43,6 +43,11 @@ class TestOptimizeComet(GtsamTestCase): self.optimizer = gtsam.GaussNewtonOptimizer( graph, initial, self.params) + self.lmparams = gtsam.LevenbergMarquardtParams() + self.lmoptimizer = gtsam.LevenbergMarquardtOptimizer( + graph, initial, self.lmparams + ) + # setup output capture self.capturedOutput = StringIO() sys.stdout = self.capturedOutput @@ -65,6 +70,16 @@ class TestOptimizeComet(GtsamTestCase): actual = self.optimizer.values() self.gtsamAssertEquals(actual.atRot3(KEY), self.expected, tol=1e-6) + def test_lm_simple_printing(self): + """Make sure we are properly terminating LM""" + def hook(_, error): + print(error) + + gtsam_optimize(self.lmoptimizer, self.lmparams, hook) + + actual = self.lmoptimizer.values() + self.gtsamAssertEquals(actual.atRot3(KEY), self.expected, tol=1e-6) + @unittest.skip("Not a test we want run every time, as needs comet.ml account") def test_comet(self): """Test with a comet hook.""" diff --git a/cython/gtsam/utils/logging_optimizer.py b/cython/gtsam/utils/logging_optimizer.py index a48413212..27b9b3a3a 100644 --- a/cython/gtsam/utils/logging_optimizer.py +++ b/cython/gtsam/utils/logging_optimizer.py @@ -46,6 +46,7 @@ def gtsam_optimize(optimizer, def check_convergence(optimizer, current_error, new_error): return (optimizer.iterations() >= params.getMaxIterations()) or ( gtsam.checkConvergence(params.getRelativeErrorTol(), params.getAbsoluteErrorTol(), params.getErrorTol(), - current_error, new_error)) or (optimizer.lambda_() > params.getlambdaUpperBound()) + current_error, new_error)) or ( + type(optimizer).__name__ == "LevenbergMarquardtOptimizer" and optimizer.lambda_() > params.getlambdaUpperBound()) optimize(optimizer, check_convergence, hook) return optimizer.values() From 7b23f570f9758d4bf407436d6c42c88d7f9d5ad7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 11 Jul 2020 14:33:40 -0400 Subject: [PATCH 076/120] correct compiler flag for Windows --- gtsam/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index a927ca3a0..16dca6736 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -189,7 +189,7 @@ set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) # Make sure that ccolamd compiles even in face of warnings # and suppress all warnings from 3rd party code if Release build if(WIN32) - set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w") + set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "/w") else() if("${CMAKE_BUILD_TYPE}" STREQUAL "Release") # Suppress all warnings from 3rd party sources. From 25513379e319132bb0b79c4873500e22ec330945 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 11 Jul 2020 14:37:54 -0400 Subject: [PATCH 077/120] Add unit test --- cython/gtsam/tests/test_NonlinearOptimizer.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/cython/gtsam/tests/test_NonlinearOptimizer.py b/cython/gtsam/tests/test_NonlinearOptimizer.py index efefb218a..985dc30a2 100644 --- a/cython/gtsam/tests/test_NonlinearOptimizer.py +++ b/cython/gtsam/tests/test_NonlinearOptimizer.py @@ -17,7 +17,8 @@ import unittest import gtsam from gtsam import (DoglegOptimizer, DoglegParams, GaussNewtonOptimizer, GaussNewtonParams, LevenbergMarquardtOptimizer, - LevenbergMarquardtParams, NonlinearFactorGraph, Ordering, + LevenbergMarquardtParams, PCGSolverParameters, + DummyPreconditionerParameters, NonlinearFactorGraph, Ordering, Point2, PriorFactorPoint2, Values) from gtsam.utils.test_case import GtsamTestCase @@ -61,6 +62,16 @@ class TestScenario(GtsamTestCase): fg, initial_values, lmParams).optimize() self.assertAlmostEqual(0, fg.error(actual2)) + # Levenberg-Marquardt + lmParams = LevenbergMarquardtParams.CeresDefaults() + lmParams.setLinearSolverType("ITERATIVE") + cgParams = PCGSolverParameters() + cgParams.setPreconditionerParams(DummyPreconditionerParameters()) + lmParams.setIterativeParams(cgParams) + actual2 = LevenbergMarquardtOptimizer( + fg, initial_values, lmParams).optimize() + self.assertAlmostEqual(0, fg.error(actual2)) + # Dogleg dlParams = DoglegParams() dlParams.setOrdering(ordering) From 566467de5ddec015f419d3be6237899955e4017d Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 11 Jul 2020 16:50:25 -0400 Subject: [PATCH 078/120] use isinstance --- cython/gtsam/utils/logging_optimizer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cython/gtsam/utils/logging_optimizer.py b/cython/gtsam/utils/logging_optimizer.py index 27b9b3a3a..3d9175951 100644 --- a/cython/gtsam/utils/logging_optimizer.py +++ b/cython/gtsam/utils/logging_optimizer.py @@ -47,6 +47,6 @@ def gtsam_optimize(optimizer, return (optimizer.iterations() >= params.getMaxIterations()) or ( gtsam.checkConvergence(params.getRelativeErrorTol(), params.getAbsoluteErrorTol(), params.getErrorTol(), current_error, new_error)) or ( - type(optimizer).__name__ == "LevenbergMarquardtOptimizer" and optimizer.lambda_() > params.getlambdaUpperBound()) + isinstance(optimizer, gtsam.LevenbergMarquardtOptimizer) and optimizer.lambda_() > params.getlambdaUpperBound()) optimize(optimizer, check_convergence, hook) return optimizer.values() From 289ab6271dcfe4c9c956507d6f19c1a15f811942 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 11 Jul 2020 21:44:38 -0400 Subject: [PATCH 079/120] added cmake policy for AppleClang compiler identification --- cmake/GtsamBuildTypes.cmake | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index 15a02b6e8..088ba7ad2 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -1,3 +1,8 @@ +# Set cmake policy to recognize the AppleClang compiler +# independently from the Clang compiler. +if(POLICY CMP0025) + cmake_policy(SET CMP0025 NEW) +endif() # function: list_append_cache(var [new_values ...]) # Like "list(APPEND ...)" but working for CACHE variables. From 8b9c199d0b079bacf29997c7c496520b471a49b6 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sun, 12 Jul 2020 10:28:23 -0400 Subject: [PATCH 080/120] Move the declaration to cpp --- gtsam/navigation/CombinedImuFactor.h | 2 -- gtsam/navigation/tests/testImuFactorSerialization.cpp | 3 +++ 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index f47ce8846..f7ea25371 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -384,5 +384,3 @@ struct traits : public Testable {}; } // namespace gtsam -/// Add Boost serialization export for derived class -BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams"); diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp index ed72e18e9..6a9e727f2 100644 --- a/gtsam/navigation/tests/testImuFactorSerialization.cpp +++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp @@ -42,6 +42,9 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); +/// Add Boost serialization export for derived class +BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams"); + template P getPreintegratedMeasurements() { // Create default parameters with Z-down and above noise paramaters From a500b4147312d0756e73c82c03bb2da46d0a3e79 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 12 Jul 2020 11:39:47 -0400 Subject: [PATCH 081/120] Better way of exporting Boost serialization guid --- gtsam/navigation/CombinedImuFactor.cpp | 3 +++ gtsam/navigation/CombinedImuFactor.h | 2 ++ gtsam/navigation/tests/testImuFactorSerialization.cpp | 3 --- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 7a8c73013..7f58f7e64 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -313,3 +313,6 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, } /// namespace gtsam +/// Boost serialization export definition for derived class +BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams); + diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index f7ea25371..8b6dcd3f2 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -384,3 +384,5 @@ struct traits : public Testable {}; } // namespace gtsam +/// Add Boost serialization export key (declaration) for derived class +BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams); diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp index 6a9e727f2..ed72e18e9 100644 --- a/gtsam/navigation/tests/testImuFactorSerialization.cpp +++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp @@ -42,9 +42,6 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); -/// Add Boost serialization export for derived class -BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams"); - template P getPreintegratedMeasurements() { // Create default parameters with Z-down and above noise paramaters From 58362579bb6d22ca9b94d4c0a3daf63bda0508a2 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 12:27:10 -0400 Subject: [PATCH 082/120] Resurrecting DiscreteBayesTree tests --- gtsam/discrete/DiscreteBayesNet.h | 3 +- gtsam/discrete/DiscreteBayesTree.cpp | 13 +- gtsam/discrete/DiscreteBayesTree.h | 3 + .../discrete/tests/testDiscreteBayesTree.cpp | 499 +++++++++--------- 4 files changed, 257 insertions(+), 261 deletions(-) diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h index dcc336f89..237caf745 100644 --- a/gtsam/discrete/DiscreteBayesNet.h +++ b/gtsam/discrete/DiscreteBayesNet.h @@ -20,13 +20,14 @@ #include #include #include +#include #include #include namespace gtsam { /** A Bayes net made from linear-Discrete densities */ - class GTSAM_EXPORT DiscreteBayesNet: public FactorGraph + class GTSAM_EXPORT DiscreteBayesNet: public BayesNet { public: diff --git a/gtsam/discrete/DiscreteBayesTree.cpp b/gtsam/discrete/DiscreteBayesTree.cpp index bed50a470..8fcc34e25 100644 --- a/gtsam/discrete/DiscreteBayesTree.cpp +++ b/gtsam/discrete/DiscreteBayesTree.cpp @@ -29,10 +29,19 @@ namespace gtsam { template class BayesTreeCliqueBase; template class BayesTree; + /* ************************************************************************* */ + double DiscreteBayesTreeClique::evaluate( + const DiscreteConditional::Values& values) const { + // evaluate all conditionals and multiply + double result = (*conditional_)(values); + for (const auto& child : children) { + result *= child->evaluate(values); + } + return result; + } /* ************************************************************************* */ - bool DiscreteBayesTree::equals(const This& other, double tol) const - { + bool DiscreteBayesTree::equals(const This& other, double tol) const { return Base::equals(other, tol); } diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h index 0df6ab476..aa8f4657c 100644 --- a/gtsam/discrete/DiscreteBayesTree.h +++ b/gtsam/discrete/DiscreteBayesTree.h @@ -42,6 +42,9 @@ namespace gtsam { typedef boost::weak_ptr weak_ptr; DiscreteBayesTreeClique() {} DiscreteBayesTreeClique(const boost::shared_ptr& conditional) : Base(conditional) {} + + //** evaluate conditional probability of subtree for given Values */ + double evaluate(const DiscreteConditional::Values & values) const; }; /* ************************************************************************* */ diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index 93126f642..f58fd2b19 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -1,261 +1,245 @@ -///* ---------------------------------------------------------------------------- -// -// * 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 testDiscreteBayesTree.cpp -// * @date sept 15, 2012 -// * @author Frank Dellaert -// */ -// -//#include -//#include -//#include -// -//#include -//using namespace boost::assign; -// +/* ---------------------------------------------------------------------------- + +* GTSAM Copyright 2010-2020, 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 testDiscreteBayesTree.cpp + * @date sept 15, 2012 + * @author Frank Dellaert + */ + +#include +#include +#include +#include +#include + +#include +using namespace boost::assign; + #include -// -//using namespace std; -//using namespace gtsam; -// -//static bool debug = false; -// -///** -// * Custom clique class to debug shortcuts -// */ -////class Clique: public BayesTreeCliqueBaseOrdered { -//// -////protected: -//// -////public: -//// -//// typedef BayesTreeCliqueBaseOrdered Base; -//// typedef boost::shared_ptr shared_ptr; -//// -//// // Constructors -//// Clique() { -//// } -//// Clique(const DiscreteConditional::shared_ptr& conditional) : -//// Base(conditional) { -//// } -//// Clique( -//// const std::pair& result) : -//// Base(result) { -//// } -//// -//// /// print index signature only -//// void printSignature(const std::string& s = "Clique: ", -//// const KeyFormatter& indexFormatter = DefaultKeyFormatter) const { -//// ((IndexConditionalOrdered::shared_ptr) conditional_)->print(s, indexFormatter); -//// } -//// -//// /// evaluate value of sub-tree -//// double evaluate(const DiscreteConditional::Values & values) { -//// double result = (*(this->conditional_))(values); -//// // evaluate all children and multiply into result -//// for(boost::shared_ptr c: children_) -//// result *= c->evaluate(values); -//// return result; -//// } -//// -////}; -// -////typedef BayesTreeOrdered DiscreteBayesTree; -//// -/////* ************************************************************************* */ -////double evaluate(const DiscreteBayesTree& tree, -//// const DiscreteConditional::Values & values) { -//// return tree.root()->evaluate(values); -////} -// -///* ************************************************************************* */ -// -//TEST_UNSAFE( DiscreteBayesTree, thinTree ) { -// -// const int nrNodes = 15; -// const size_t nrStates = 2; -// -// // define variables -// vector key; -// for (int i = 0; i < nrNodes; i++) { -// DiscreteKey key_i(i, nrStates); -// key.push_back(key_i); -// } -// -// // create a thin-tree Bayesnet, a la Jean-Guillaume -// DiscreteBayesNet bayesNet; -// bayesNet.add(key[14] % "1/3"); -// -// bayesNet.add(key[13] | key[14] = "1/3 3/1"); -// bayesNet.add(key[12] | key[14] = "3/1 3/1"); -// -// bayesNet.add((key[11] | key[13], key[14]) = "1/4 2/3 3/2 4/1"); -// bayesNet.add((key[10] | key[13], key[14]) = "1/4 3/2 2/3 4/1"); -// bayesNet.add((key[9] | key[12], key[14]) = "4/1 2/3 F 1/4"); -// bayesNet.add((key[8] | key[12], key[14]) = "T 1/4 3/2 4/1"); -// -// bayesNet.add((key[7] | key[11], key[13]) = "1/4 2/3 3/2 4/1"); -// bayesNet.add((key[6] | key[11], key[13]) = "1/4 3/2 2/3 4/1"); -// bayesNet.add((key[5] | key[10], key[13]) = "4/1 2/3 3/2 1/4"); -// bayesNet.add((key[4] | key[10], key[13]) = "2/3 1/4 3/2 4/1"); -// -// bayesNet.add((key[3] | key[9], key[12]) = "1/4 2/3 3/2 4/1"); -// bayesNet.add((key[2] | key[9], key[12]) = "1/4 8/2 2/3 4/1"); -// bayesNet.add((key[1] | key[8], key[12]) = "4/1 2/3 3/2 1/4"); -// bayesNet.add((key[0] | key[8], key[12]) = "2/3 1/4 3/2 4/1"); -// -//// if (debug) { -//// GTSAM_PRINT(bayesNet); -//// bayesNet.saveGraph("/tmp/discreteBayesNet.dot"); -//// } -// -// // create a BayesTree out of a Bayes net -// DiscreteBayesTree bayesTree(bayesNet); -// if (debug) { -// GTSAM_PRINT(bayesTree); -// bayesTree.saveGraph("/tmp/discreteBayesTree.dot"); -// } -// -// // Check whether BN and BT give the same answer on all configurations -// // Also calculate all some marginals -// Vector marginals = zero(15); -// double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0, -// joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, -// joint_4_11 = 0; -// vector allPosbValues = cartesianProduct( -// key[0] & key[1] & key[2] & key[3] & key[4] & key[5] & key[6] & key[7] -// & key[8] & key[9] & key[10] & key[11] & key[12] & key[13] & key[14]); -// for (size_t i = 0; i < allPosbValues.size(); ++i) { -// DiscreteFactor::Values x = allPosbValues[i]; -// double expected = evaluate(bayesNet, x); -// double actual = evaluate(bayesTree, x); -// DOUBLES_EQUAL(expected, actual, 1e-9); -// // collect marginals -// for (size_t i = 0; i < 15; i++) -// if (x[i]) -// marginals[i] += actual; -// // calculate shortcut 8 and 0 -// if (x[12] && x[14]) -// joint_12_14 += actual; -// if (x[9] && x[12] & x[14]) -// joint_9_12_14 += actual; -// if (x[8] && x[12] & x[14]) -// joint_8_12_14 += actual; -// if (x[8] && x[12]) -// joint_8_12 += actual; -// if (x[8] && x[2]) -// joint82 += actual; -// if (x[1] && x[2]) -// joint12 += actual; -// if (x[2] && x[4]) -// joint24 += actual; -// if (x[4] && x[5]) -// joint45 += actual; -// if (x[4] && x[6]) -// joint46 += actual; -// if (x[4] && x[11]) -// joint_4_11 += actual; -// } -// DiscreteFactor::Values all1 = allPosbValues.back(); -// -// Clique::shared_ptr R = bayesTree.root(); -// -// // check separator marginal P(S0) -// Clique::shared_ptr c = bayesTree[0]; -// DiscreteFactorGraph separatorMarginal0 = c->separatorMarginal(R, -// EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); -// -// // check separator marginal P(S9), should be P(14) -// c = bayesTree[9]; -// DiscreteFactorGraph separatorMarginal9 = c->separatorMarginal(R, -// EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); -// -// // check separator marginal of root, should be empty -// c = bayesTree[11]; -// DiscreteFactorGraph separatorMarginal11 = c->separatorMarginal(R, -// EliminateDiscrete); -// EXPECT_LONGS_EQUAL(0, separatorMarginal11.size()); -// -// // check shortcut P(S9||R) to root -// c = bayesTree[9]; -// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); -// EXPECT_LONGS_EQUAL(0, shortcut.size()); -// -// // check shortcut P(S8||R) to root -// c = bayesTree[8]; -// shortcut = c->shortcut(R, EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint_12_14/marginals[14], evaluate(shortcut,all1), -// 1e-9); -// -// // check shortcut P(S2||R) to root -// c = bayesTree[2]; -// shortcut = c->shortcut(R, EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint_9_12_14/marginals[14], evaluate(shortcut,all1), -// 1e-9); -// -// // check shortcut P(S0||R) to root -// c = bayesTree[0]; -// shortcut = c->shortcut(R, EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint_8_12_14/marginals[14], evaluate(shortcut,all1), -// 1e-9); -// -// // calculate all shortcuts to root -// DiscreteBayesTree::Nodes cliques = bayesTree.nodes(); -// for(Clique::shared_ptr c: cliques) { -// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); -// if (debug) { -// c->printSignature(); -// shortcut.print("shortcut:"); -// } -// } -// -// // Check all marginals -// DiscreteFactor::shared_ptr marginalFactor; -// for (size_t i = 0; i < 15; i++) { -// marginalFactor = bayesTree.marginalFactor(i, EliminateDiscrete); -// double actual = (*marginalFactor)(all1); -// EXPECT_DOUBLES_EQUAL(marginals[i], actual, 1e-9); -// } -// -// DiscreteBayesNet::shared_ptr actualJoint; -// -// // Check joint P(8,2) TODO: not disjoint ! -//// actualJoint = bayesTree.jointBayesNet(8, 2, EliminateDiscrete); -//// EXPECT_DOUBLES_EQUAL(joint82, evaluate(*actualJoint,all1), 1e-9); -// -// // Check joint P(1,2) TODO: not disjoint ! -//// actualJoint = bayesTree.jointBayesNet(1, 2, EliminateDiscrete); -//// EXPECT_DOUBLES_EQUAL(joint12, evaluate(*actualJoint,all1), 1e-9); -// -// // Check joint P(2,4) -// actualJoint = bayesTree.jointBayesNet(2, 4, EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint24, evaluate(*actualJoint,all1), 1e-9); -// -// // Check joint P(4,5) TODO: not disjoint ! -//// actualJoint = bayesTree.jointBayesNet(4, 5, EliminateDiscrete); -//// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); -// -// // Check joint P(4,6) TODO: not disjoint ! -//// actualJoint = bayesTree.jointBayesNet(4, 6, EliminateDiscrete); -//// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); -// -// // Check joint P(4,11) -// actualJoint = bayesTree.jointBayesNet(4, 11, EliminateDiscrete); -// EXPECT_DOUBLES_EQUAL(joint_4_11, evaluate(*actualJoint,all1), 1e-9); -// -//} + +#include + +using namespace std; +using namespace gtsam; + +static bool debug = false; + +// /** +// * Custom clique class to debug shortcuts +// */ +// struct Clique : public BayesTreeCliqueBase { +// typedef BayesTreeCliqueBase Base; +// typedef boost::shared_ptr shared_ptr; + +// // Constructors +// Clique() {} +// explicit Clique(const DiscreteConditional::shared_ptr& conditional) +// : Base(conditional) {} +// Clique(const std::pair& +// result) +// : Base(result) {} + +// /// print index signature only +// void printSignature( +// const std::string& s = "Clique: ", +// const KeyFormatter& indexFormatter = DefaultKeyFormatter) const { +// ((IndexConditionalOrdered::shared_ptr)conditional_) +// ->print(s, indexFormatter); +// } + +// /// evaluate value of sub-tree +// double evaluate(const DiscreteConditional::Values& values) { +// double result = (*(this->conditional_))(values); +// // evaluate all children and multiply into result +// for (boost::shared_ptr c : children_) result *= +// c->evaluate(values); return result; +// } +// }; + +// typedef BayesTreeOrdered DiscreteBayesTree; + +/* ************************************************************************* */ + +TEST_UNSAFE(DiscreteBayesTree, thinTree) { + const int nrNodes = 15; + const size_t nrStates = 2; + + // define variables + vector key; + for (int i = 0; i < nrNodes; i++) { + DiscreteKey key_i(i, nrStates); + key.push_back(key_i); + } + + // create a thin-tree Bayesnet, a la Jean-Guillaume + DiscreteBayesNet bayesNet; + bayesNet.add(key[14] % "1/3"); + + bayesNet.add(key[13] | key[14] = "1/3 3/1"); + bayesNet.add(key[12] | key[14] = "3/1 3/1"); + + bayesNet.add((key[11] | key[13], key[14]) = "1/4 2/3 3/2 4/1"); + bayesNet.add((key[10] | key[13], key[14]) = "1/4 3/2 2/3 4/1"); + bayesNet.add((key[9] | key[12], key[14]) = "4/1 2/3 F 1/4"); + bayesNet.add((key[8] | key[12], key[14]) = "T 1/4 3/2 4/1"); + + bayesNet.add((key[7] | key[11], key[13]) = "1/4 2/3 3/2 4/1"); + bayesNet.add((key[6] | key[11], key[13]) = "1/4 3/2 2/3 4/1"); + bayesNet.add((key[5] | key[10], key[13]) = "4/1 2/3 3/2 1/4"); + bayesNet.add((key[4] | key[10], key[13]) = "2/3 1/4 3/2 4/1"); + + bayesNet.add((key[3] | key[9], key[12]) = "1/4 2/3 3/2 4/1"); + bayesNet.add((key[2] | key[9], key[12]) = "1/4 8/2 2/3 4/1"); + bayesNet.add((key[1] | key[8], key[12]) = "4/1 2/3 3/2 1/4"); + bayesNet.add((key[0] | key[8], key[12]) = "2/3 1/4 3/2 4/1"); + + if (debug) { + GTSAM_PRINT(bayesNet); + bayesNet.saveGraph("/tmp/discreteBayesNet.dot"); + } + + // create a BayesTree out of a Bayes net + auto bayesTree = DiscreteFactorGraph(bayesNet).eliminateMultifrontal(); + if (debug) { + GTSAM_PRINT(*bayesTree); + bayesTree->saveGraph("/tmp/discreteBayesTree.dot"); + } + + auto R = bayesTree->roots().front(); + + // Check whether BN and BT give the same answer on all configurations + vector allPosbValues = cartesianProduct( + key[0] & key[1] & key[2] & key[3] & key[4] & key[5] & key[6] & key[7] & + key[8] & key[9] & key[10] & key[11] & key[12] & key[13] & key[14]); + for (size_t i = 0; i < allPosbValues.size(); ++i) { + DiscreteFactor::Values x = allPosbValues[i]; + double expected = bayesNet.evaluate(x); + double actual = R->evaluate(x); + DOUBLES_EQUAL(expected, actual, 1e-9); + } + + // Calculate all some marginals + Vector marginals = zero(15); + double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0, + joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, + joint_4_11 = 0; + for (size_t i = 0; i < allPosbValues.size(); ++i) { + DiscreteFactor::Values x = allPosbValues[i]; + double px = R->evaluate(x); + for (size_t i = 0; i < 15; i++) + if (x[i]) marginals[i] += px; + // calculate shortcut 8 and 0 + if (x[12] && x[14]) joint_12_14 += px; + if (x[9] && x[12] & x[14]) joint_9_12_14 += px; + if (x[8] && x[12] & x[14]) joint_8_12_14 += px; + if (x[8] && x[12]) joint_8_12 += px; + if (x[8] && x[2]) joint82 += px; + if (x[1] && x[2]) joint12 += px; + if (x[2] && x[4]) joint24 += px; + if (x[4] && x[5]) joint45 += px; + if (x[4] && x[6]) joint46 += px; + if (x[4] && x[11]) joint_4_11 += px; + } + DiscreteFactor::Values all1 = allPosbValues.back(); + + + // check separator marginal P(S0) + auto c = (*bayesTree)[0]; + DiscreteFactorGraph separatorMarginal0 = + c->separatorMarginal(EliminateDiscrete); + EXPECT_DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); + + // // check separator marginal P(S9), should be P(14) + // c = (*bayesTree)[9]; + // DiscreteFactorGraph separatorMarginal9 = + // c->separatorMarginal(EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); + + // // check separator marginal of root, should be empty + // c = (*bayesTree)[11]; + // DiscreteFactorGraph separatorMarginal11 = + // c->separatorMarginal(EliminateDiscrete); + // EXPECT_LONGS_EQUAL(0, separatorMarginal11.size()); + + // // check shortcut P(S9||R) to root + // c = (*bayesTree)[9]; + // DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); + // EXPECT_LONGS_EQUAL(0, shortcut.size()); + + // // check shortcut P(S8||R) to root + // c = (*bayesTree)[8]; + // shortcut = c->shortcut(R, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint_12_14 / marginals[14], evaluate(shortcut, all1), + // 1e-9); + + // // check shortcut P(S2||R) to root + // c = (*bayesTree)[2]; + // shortcut = c->shortcut(R, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint_9_12_14 / marginals[14], evaluate(shortcut, + // all1), + // 1e-9); + + // // check shortcut P(S0||R) to root + // c = (*bayesTree)[0]; + // shortcut = c->shortcut(R, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint_8_12_14 / marginals[14], evaluate(shortcut, + // all1), + // 1e-9); + + // // calculate all shortcuts to root + // DiscreteBayesTree::Nodes cliques = bayesTree->nodes(); + // for (auto c : cliques) { + // DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); + // if (debug) { + // c->printSignature(); + // shortcut.print("shortcut:"); + // } + // } + + // // Check all marginals + // DiscreteFactor::shared_ptr marginalFactor; + // for (size_t i = 0; i < 15; i++) { + // marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete); + // double actual = (*marginalFactor)(all1); + // EXPECT_DOUBLES_EQUAL(marginals[i], actual, 1e-9); + // } + + // DiscreteBayesNet::shared_ptr actualJoint; + + // Check joint P(8,2) TODO: not disjoint ! + // actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint82, evaluate(*actualJoint,all1), 1e-9); + + // Check joint P(1,2) TODO: not disjoint ! + // actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint12, evaluate(*actualJoint,all1), 1e-9); + + // Check joint P(2,4) + // actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint24, evaluate(*actualJoint, all1), 1e-9); + + // Check joint P(4,5) TODO: not disjoint ! + // actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); + + // Check joint P(4,6) TODO: not disjoint ! + // actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); + + // Check joint P(4,11) + // actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete); + // EXPECT_DOUBLES_EQUAL(joint_4_11, evaluate(*actualJoint, all1), 1e-9); +} /* ************************************************************************* */ int main() { @@ -263,4 +247,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - From eb1a2b8fb3a6b3656da0acd1efc982f5fe6cc3c3 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 14:31:29 -0400 Subject: [PATCH 083/120] modified test --- tests/testNonlinearOptimizer.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 5d4c3f844..a549dc726 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -459,11 +459,12 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) { init.insert(0, 100.0); expected.insert(0, 3.33333333); - LevenbergMarquardtParams params; + DoglegParams params_dl; + params_dl.setRelativeErrorTol(1e-10); auto gn_result = GaussNewtonOptimizer(fg, init).optimize(); - auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize(); - auto dl_result = DoglegOptimizer(fg, init).optimize(); + auto lm_result = LevenbergMarquardtOptimizer(fg, init).optimize(); + auto dl_result = DoglegOptimizer(fg, init, params_dl).optimize(); EXPECT(assert_equal(expected, gn_result, tol)); EXPECT(assert_equal(expected, lm_result, tol)); From 3f4bf163e73a5f04cb8291e40fc1892ab80bb83e Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 14:59:17 -0400 Subject: [PATCH 084/120] Checked in pdf for easy reference --- gtsam/discrete/tests/testDiscreteBayesTree.pdf | Bin 0 -> 10622 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 gtsam/discrete/tests/testDiscreteBayesTree.pdf diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.pdf b/gtsam/discrete/tests/testDiscreteBayesTree.pdf new file mode 100644 index 0000000000000000000000000000000000000000..e8167d455477f97aadb2101d26120a6c145891f5 GIT binary patch literal 10622 zcma)i2RK~a^S>5?=p|~bPPEvu87l@l5hq-FA~Taz0X!;D zXB&5006&7Hg#!Qpc;xIH-Jx*A(-Gnhy$iL3SwV5c#c|x+;ZTSZ&i#ym6xG-nfg2&) 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added printSignature and evaluate --- gtsam/discrete/DiscreteBayesTree.cpp | 10 ++++ gtsam/discrete/DiscreteBayesTree.h | 85 ++++++++++++++++------------ gtsam/discrete/DiscreteConditional.h | 9 +++ gtsam/inference/Conditional.h | 3 +- 4 files changed, 71 insertions(+), 36 deletions(-) diff --git a/gtsam/discrete/DiscreteBayesTree.cpp b/gtsam/discrete/DiscreteBayesTree.cpp index 8fcc34e25..990d10dbe 100644 --- a/gtsam/discrete/DiscreteBayesTree.cpp +++ b/gtsam/discrete/DiscreteBayesTree.cpp @@ -45,6 +45,16 @@ namespace gtsam { return Base::equals(other, tol); } + /* ************************************************************************* */ + double DiscreteBayesTree::evaluate( + const DiscreteConditional::Values& values) const { + double result = 1.0; + for (const auto& root : roots_) { + result *= root->evaluate(values); + } + return result; + } + } // \namespace gtsam diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h index aa8f4657c..3d6e016fd 100644 --- a/gtsam/discrete/DiscreteBayesTree.h +++ b/gtsam/discrete/DiscreteBayesTree.h @@ -11,7 +11,8 @@ /** * @file DiscreteBayesTree.h - * @brief Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree + * @brief Discrete Bayes Tree, the result of eliminating a + * DiscreteJunctionTree * @brief DiscreteBayesTree * @author Frank Dellaert * @author Richard Roberts @@ -22,48 +23,62 @@ #include #include #include +#include #include +#include + namespace gtsam { - // Forward declarations - class DiscreteConditional; - class VectorValues; +// Forward declarations +class DiscreteConditional; +class VectorValues; - /* ************************************************************************* */ - /** A clique in a DiscreteBayesTree */ - class GTSAM_EXPORT DiscreteBayesTreeClique : - public BayesTreeCliqueBase - { - public: - typedef DiscreteBayesTreeClique This; - typedef BayesTreeCliqueBase Base; - typedef boost::shared_ptr shared_ptr; - typedef boost::weak_ptr weak_ptr; - DiscreteBayesTreeClique() {} - DiscreteBayesTreeClique(const boost::shared_ptr& conditional) : Base(conditional) {} +/* ************************************************************************* */ +/** A clique in a DiscreteBayesTree */ +class GTSAM_EXPORT DiscreteBayesTreeClique + : public BayesTreeCliqueBase { + public: + typedef DiscreteBayesTreeClique This; + typedef BayesTreeCliqueBase + Base; + typedef boost::shared_ptr shared_ptr; + typedef boost::weak_ptr weak_ptr; + DiscreteBayesTreeClique() {} + DiscreteBayesTreeClique( + const boost::shared_ptr& conditional) + : Base(conditional) {} - //** evaluate conditional probability of subtree for given Values */ - double evaluate(const DiscreteConditional::Values & values) const; - }; + /// print index signature only + void printSignature( + const std::string& s = "Clique: ", + const KeyFormatter& formatter = DefaultKeyFormatter) const { + conditional_->printSignature(s, formatter); + } - /* ************************************************************************* */ - /** A Bayes tree representing a Discrete density */ - class GTSAM_EXPORT DiscreteBayesTree : - public BayesTree - { - private: - typedef BayesTree Base; + //** evaluate conditional probability of subtree for given Values */ + double evaluate(const DiscreteConditional::Values& values) const; +}; - public: - typedef DiscreteBayesTree This; - typedef boost::shared_ptr shared_ptr; +/* ************************************************************************* */ +/** A Bayes tree representing a Discrete density */ +class GTSAM_EXPORT DiscreteBayesTree + : public BayesTree { + private: + typedef BayesTree Base; - /** Default constructor, creates an empty Bayes tree */ - DiscreteBayesTree() {} + public: + typedef DiscreteBayesTree This; + typedef boost::shared_ptr shared_ptr; - /** Check equality */ - bool equals(const This& other, double tol = 1e-9) const; - }; + /** Default constructor, creates an empty Bayes tree */ + DiscreteBayesTree() {} -} + /** Check equality */ + bool equals(const This& other, double tol = 1e-9) const; + + //** evaluate probability for given Values */ + double evaluate(const DiscreteConditional::Values& values) const; +}; + +} // namespace gtsam diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 3da8d0a82..225e6e1d3 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -24,6 +24,8 @@ #include #include +#include + namespace gtsam { /** @@ -92,6 +94,13 @@ public: /// @name Standard Interface /// @{ + /// print index signature only + void printSignature( + const std::string& s = "Discrete Conditional: ", + const KeyFormatter& formatter = DefaultKeyFormatter) const { + static_cast(this)->print(s, formatter); + } + /// Evaluate, just look up in AlgebraicDecisonTree virtual double operator()(const Values& values) const { return Potentials::operator()(values); diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h index 1d486030c..295122879 100644 --- a/gtsam/inference/Conditional.h +++ b/gtsam/inference/Conditional.h @@ -65,6 +65,8 @@ namespace gtsam { Conditional(size_t nrFrontals) : nrFrontals_(nrFrontals) {} /// @} + + public: /// @name Testable /// @{ @@ -76,7 +78,6 @@ namespace gtsam { /// @} - public: /// @name Standard Interface /// @{ From ae808d039cda45df8334d1857773c9c06c2943a0 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 15:00:34 -0400 Subject: [PATCH 086/120] Fixed link issue --- gtsam/discrete/tests/testDiscreteFactorGraph.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp index 0fbf44097..7a0e1eaf7 100644 --- a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp +++ b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include From d456dddc6f1860f76b3ff8a7be555d55a430fb6d Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 15:00:54 -0400 Subject: [PATCH 087/120] Cleaned up formatting --- gtsam/inference/BayesTreeCliqueBase-inst.h | 54 ++++++++++++---------- 1 file changed, 29 insertions(+), 25 deletions(-) diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h index e762786f5..a02fe274e 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inst.h +++ b/gtsam/inference/BayesTreeCliqueBase-inst.h @@ -136,57 +136,61 @@ namespace gtsam { } } - /* ************************************************************************* */ + /* *********************************************************************** */ // separator marginal, uses separator marginal of parent recursively // P(C) = P(F|S) P(S) - /* ************************************************************************* */ - template + /* *********************************************************************** */ + template typename BayesTreeCliqueBase::FactorGraphType - BayesTreeCliqueBase::separatorMarginal(Eliminate function) const - { + BayesTreeCliqueBase::separatorMarginal( + Eliminate function) const { gttic(BayesTreeCliqueBase_separatorMarginal); // Check if the Separator marginal was already calculated - if (!cachedSeparatorMarginal_) - { + if (!cachedSeparatorMarginal_) { gttic(BayesTreeCliqueBase_separatorMarginal_cachemiss); + // If this is the root, there is no separator - if (parent_.expired() /*(if we're the root)*/) - { + if (parent_.expired() /*(if we're the root)*/) { // we are root, return empty FactorGraphType empty; cachedSeparatorMarginal_ = empty; - } - else - { + } else { + // Flatten recursion in timing outline + gttoc(BayesTreeCliqueBase_separatorMarginal_cachemiss); + gttoc(BayesTreeCliqueBase_separatorMarginal); + // Obtain P(S) = \int P(Cp) = \int P(Fp|Sp) P(Sp) // initialize P(Cp) with the parent separator marginal derived_ptr parent(parent_.lock()); - gttoc(BayesTreeCliqueBase_separatorMarginal_cachemiss); // Flatten recursion in timing outline - gttoc(BayesTreeCliqueBase_separatorMarginal); - FactorGraphType p_Cp(parent->separatorMarginal(function)); // P(Sp) + FactorGraphType p_Cp(parent->separatorMarginal(function)); // P(Sp) + gttic(BayesTreeCliqueBase_separatorMarginal); gttic(BayesTreeCliqueBase_separatorMarginal_cachemiss); + // now add the parent conditional - p_Cp += parent->conditional_; // P(Fp|Sp) + p_Cp += parent->conditional_; // P(Fp|Sp) // The variables we want to keepSet are exactly the ones in S - KeyVector indicesS(this->conditional()->beginParents(), this->conditional()->endParents()); - cachedSeparatorMarginal_ = *p_Cp.marginalMultifrontalBayesNet(Ordering(indicesS), function); + KeyVector indicesS(this->conditional()->beginParents(), + this->conditional()->endParents()); + auto separatorMarginal = + p_Cp.marginalMultifrontalBayesNet(Ordering(indicesS), function); + cachedSeparatorMarginal_.reset(*separatorMarginal); } } // return the shortcut P(S||B) - return *cachedSeparatorMarginal_; // return the cached version + return *cachedSeparatorMarginal_; // return the cached version } - /* ************************************************************************* */ - // marginal2, uses separator marginal of parent recursively + /* *********************************************************************** */ + // marginal2, uses separator marginal of parent // P(C) = P(F|S) P(S) - /* ************************************************************************* */ - template + /* *********************************************************************** */ + template typename BayesTreeCliqueBase::FactorGraphType - BayesTreeCliqueBase::marginal2(Eliminate function) const - { + BayesTreeCliqueBase::marginal2( + Eliminate function) const { gttic(BayesTreeCliqueBase_marginal2); // initialize with separator marginal P(S) FactorGraphType p_C = this->separatorMarginal(function); From 468c7aee0cd9b5933178b7304a6acce34eeb8692 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 15:01:00 -0400 Subject: [PATCH 088/120] Fixed tests --- .../discrete/tests/testDiscreteBayesTree.cpp | 191 ++++++++---------- 1 file changed, 81 insertions(+), 110 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index f58fd2b19..150a41c24 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -33,41 +33,6 @@ using namespace gtsam; static bool debug = false; -// /** -// * Custom clique class to debug shortcuts -// */ -// struct Clique : public BayesTreeCliqueBase { -// typedef BayesTreeCliqueBase Base; -// typedef boost::shared_ptr shared_ptr; - -// // Constructors -// Clique() {} -// explicit Clique(const DiscreteConditional::shared_ptr& conditional) -// : Base(conditional) {} -// Clique(const std::pair& -// result) -// : Base(result) {} - -// /// print index signature only -// void printSignature( -// const std::string& s = "Clique: ", -// const KeyFormatter& indexFormatter = DefaultKeyFormatter) const { -// ((IndexConditionalOrdered::shared_ptr)conditional_) -// ->print(s, indexFormatter); -// } - -// /// evaluate value of sub-tree -// double evaluate(const DiscreteConditional::Values& values) { -// double result = (*(this->conditional_))(values); -// // evaluate all children and multiply into result -// for (boost::shared_ptr c : children_) result *= -// c->evaluate(values); return result; -// } -// }; - -// typedef BayesTreeOrdered DiscreteBayesTree; - /* ************************************************************************* */ TEST_UNSAFE(DiscreteBayesTree, thinTree) { @@ -124,24 +89,24 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) { for (size_t i = 0; i < allPosbValues.size(); ++i) { DiscreteFactor::Values x = allPosbValues[i]; double expected = bayesNet.evaluate(x); - double actual = R->evaluate(x); + double actual = bayesTree->evaluate(x); DOUBLES_EQUAL(expected, actual, 1e-9); } - // Calculate all some marginals + // Calculate all some marginals for Values==all1 Vector marginals = zero(15); double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0, joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, - joint_4_11 = 0; + joint_4_11 = 0, joint_11_13 = 0, joint_11_13_14 = 0, + joint_11_12_13_14 = 0, joint_9_11_12_13 = 0, joint_8_11_12_13 = 0; for (size_t i = 0; i < allPosbValues.size(); ++i) { DiscreteFactor::Values x = allPosbValues[i]; - double px = R->evaluate(x); + double px = bayesTree->evaluate(x); for (size_t i = 0; i < 15; i++) if (x[i]) marginals[i] += px; - // calculate shortcut 8 and 0 if (x[12] && x[14]) joint_12_14 += px; - if (x[9] && x[12] & x[14]) joint_9_12_14 += px; - if (x[8] && x[12] & x[14]) joint_8_12_14 += px; + if (x[9] && x[12] && x[14]) joint_9_12_14 += px; + if (x[8] && x[12] && x[14]) joint_8_12_14 += px; if (x[8] && x[12]) joint_8_12 += px; if (x[8] && x[2]) joint82 += px; if (x[1] && x[2]) joint12 += px; @@ -149,96 +114,102 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) { if (x[4] && x[5]) joint45 += px; if (x[4] && x[6]) joint46 += px; if (x[4] && x[11]) joint_4_11 += px; + if (x[11] && x[13]) { + joint_11_13 += px; + if (x[8] && x[12]) joint_8_11_12_13 += px; + if (x[9] && x[12]) joint_9_11_12_13 += px; + if (x[14]) { + joint_11_13_14 += px; + if (x[12]) { + joint_11_12_13_14 += px; + } + } + } } DiscreteFactor::Values all1 = allPosbValues.back(); - // check separator marginal P(S0) auto c = (*bayesTree)[0]; DiscreteFactorGraph separatorMarginal0 = c->separatorMarginal(EliminateDiscrete); - EXPECT_DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); + DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); - // // check separator marginal P(S9), should be P(14) - // c = (*bayesTree)[9]; - // DiscreteFactorGraph separatorMarginal9 = - // c->separatorMarginal(EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); + // check separator marginal P(S9), should be P(14) + c = (*bayesTree)[9]; + DiscreteFactorGraph separatorMarginal9 = + c->separatorMarginal(EliminateDiscrete); + DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); - // // check separator marginal of root, should be empty - // c = (*bayesTree)[11]; - // DiscreteFactorGraph separatorMarginal11 = - // c->separatorMarginal(EliminateDiscrete); - // EXPECT_LONGS_EQUAL(0, separatorMarginal11.size()); + // check separator marginal of root, should be empty + c = (*bayesTree)[11]; + DiscreteFactorGraph separatorMarginal11 = + c->separatorMarginal(EliminateDiscrete); + LONGS_EQUAL(0, separatorMarginal11.size()); - // // check shortcut P(S9||R) to root - // c = (*bayesTree)[9]; - // DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); - // EXPECT_LONGS_EQUAL(0, shortcut.size()); + // check shortcut P(S9||R) to root + c = (*bayesTree)[9]; + DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); + LONGS_EQUAL(1, shortcut.size()); + DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9); - // // check shortcut P(S8||R) to root - // c = (*bayesTree)[8]; - // shortcut = c->shortcut(R, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint_12_14 / marginals[14], evaluate(shortcut, all1), - // 1e-9); + // check shortcut P(S8||R) to root + c = (*bayesTree)[8]; + shortcut = c->shortcut(R, EliminateDiscrete); + DOUBLES_EQUAL(joint_11_12_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9); - // // check shortcut P(S2||R) to root - // c = (*bayesTree)[2]; - // shortcut = c->shortcut(R, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint_9_12_14 / marginals[14], evaluate(shortcut, - // all1), - // 1e-9); + // check shortcut P(S2||R) to root + c = (*bayesTree)[2]; + shortcut = c->shortcut(R, EliminateDiscrete); + DOUBLES_EQUAL(joint_9_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9); - // // check shortcut P(S0||R) to root - // c = (*bayesTree)[0]; - // shortcut = c->shortcut(R, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint_8_12_14 / marginals[14], evaluate(shortcut, - // all1), - // 1e-9); + // check shortcut P(S0||R) to root + c = (*bayesTree)[0]; + shortcut = c->shortcut(R, EliminateDiscrete); + DOUBLES_EQUAL(joint_8_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9); - // // calculate all shortcuts to root - // DiscreteBayesTree::Nodes cliques = bayesTree->nodes(); - // for (auto c : cliques) { - // DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); - // if (debug) { - // c->printSignature(); - // shortcut.print("shortcut:"); - // } - // } + // calculate all shortcuts to root + DiscreteBayesTree::Nodes cliques = bayesTree->nodes(); + for (auto c : cliques) { + DiscreteBayesNet shortcut = c.second->shortcut(R, EliminateDiscrete); + if (debug) { + c.second->conditional_->printSignature(); + shortcut.print("shortcut:"); + } + } - // // Check all marginals - // DiscreteFactor::shared_ptr marginalFactor; - // for (size_t i = 0; i < 15; i++) { - // marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete); - // double actual = (*marginalFactor)(all1); - // EXPECT_DOUBLES_EQUAL(marginals[i], actual, 1e-9); - // } + // Check all marginals + DiscreteFactor::shared_ptr marginalFactor; + for (size_t i = 0; i < 15; i++) { + marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete); + double actual = (*marginalFactor)(all1); + DOUBLES_EQUAL(marginals[i], actual, 1e-9); + } - // DiscreteBayesNet::shared_ptr actualJoint; + DiscreteBayesNet::shared_ptr actualJoint; - // Check joint P(8,2) TODO: not disjoint ! - // actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint82, evaluate(*actualJoint,all1), 1e-9); + // Check joint P(8, 2) + actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete); + DOUBLES_EQUAL(joint82, actualJoint->evaluate(all1), 1e-9); - // Check joint P(1,2) TODO: not disjoint ! - // actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint12, evaluate(*actualJoint,all1), 1e-9); + // Check joint P(1, 2) + actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete); + DOUBLES_EQUAL(joint12, actualJoint->evaluate(all1), 1e-9); - // Check joint P(2,4) - // actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint24, evaluate(*actualJoint, all1), 1e-9); + // Check joint P(2, 4) + actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete); + DOUBLES_EQUAL(joint24, actualJoint->evaluate(all1), 1e-9); - // Check joint P(4,5) TODO: not disjoint ! - // actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); + // Check joint P(4, 5) + actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete); + DOUBLES_EQUAL(joint45, actualJoint->evaluate(all1), 1e-9); - // Check joint P(4,6) TODO: not disjoint ! - // actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); + // Check joint P(4, 6) + actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete); + DOUBLES_EQUAL(joint46, actualJoint->evaluate(all1), 1e-9); - // Check joint P(4,11) - // actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete); - // EXPECT_DOUBLES_EQUAL(joint_4_11, evaluate(*actualJoint, all1), 1e-9); + // Check joint P(4, 11) + actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete); + DOUBLES_EQUAL(joint_4_11, actualJoint->evaluate(all1), 1e-9); } /* ************************************************************************* */ From 362b64499a8abdbe6584f1746a5c6d1754020c3b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 12 Jul 2020 19:03:05 -0400 Subject: [PATCH 089/120] perform equality comparison on root of class hierarchy --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/CombinedImuFactor.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 7f58f7e64..d7b4b7bf1 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -44,7 +44,7 @@ void PreintegrationCombinedParams::print(const string& s) const { } //------------------------------------------------------------------------------ -bool PreintegrationCombinedParams::equals(const PreintegrationParams& other, +bool PreintegrationCombinedParams::equals(const PreintegratedRotationParams& other, double tol) const { auto e = dynamic_cast(&other); return e != nullptr && PreintegrationParams::equals(other, tol) && diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 8b6dcd3f2..a89568433 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -88,7 +88,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { } void print(const std::string& s="") const; - bool equals(const PreintegrationParams& other, double tol) const; + bool equals(const PreintegratedRotationParams& other, double tol) const; void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; } void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; } From c68ab6b3bedf9576416b816089482c1a2e14ce50 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 12 Jul 2020 19:54:23 -0400 Subject: [PATCH 090/120] correct vector init --- gtsam/discrete/tests/testDiscreteBayesTree.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index 150a41c24..9950c014e 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -35,7 +35,7 @@ static bool debug = false; /* ************************************************************************* */ -TEST_UNSAFE(DiscreteBayesTree, thinTree) { +TEST_UNSAFE(DiscreteBayesTree, ThinTree) { const int nrNodes = 15; const size_t nrStates = 2; @@ -94,7 +94,7 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) { } // Calculate all some marginals for Values==all1 - Vector marginals = zero(15); + Vector marginals = Vector::Zero(15); double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0, joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, joint_4_11 = 0, joint_11_13 = 0, joint_11_13_14 = 0, From c67779fdce5f0897ce36c85b1b2ea65896513862 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 12 Jul 2020 19:54:42 -0400 Subject: [PATCH 091/120] delete extra pdf file --- gtsam/discrete/tests/testDiscreteBayesTree.pdf | Bin 10622 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 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zR$}F0iKt0qvxL~eVE_;}NPrs%V6%01cX7MJgQyHZP;KB47h5|^H*Of*hW$svkwH|f zx!b{8Sfk5`ZPx@#2lYt;o5X|OE@T(>KEC~2( zsrTVfYaAc|%!>p3eE|gc`FZ&P)_|WhVIe+**^n2&`4iq_&+86lq_i&uhV8?f@j?&&a6gYz+fkIqOw8b#sTn-LE_XF`giz+>%*VT@L5} E0IK=vy8r+H literal 0 HcmV?d00001 From 7db7455c12fb9b1c06e9ffc3bc47e27ed489eff1 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 23:05:24 -0400 Subject: [PATCH 093/120] deprecate error in noisemodel, use loss instead; revise virtual with override --- gtsam/linear/NoiseModel.cpp | 36 +++--- gtsam/linear/NoiseModel.h | 172 +++++++++++++++------------- gtsam/nonlinear/NonlinearFactor.cpp | 2 +- 3 files changed, 113 insertions(+), 97 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index ec4fd08fd..f5ec95696 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -74,6 +74,13 @@ Vector Base::sigmas() const { throw("Base::sigmas: sigmas() not implemented for this noise model"); } +/* ************************************************************************* */ +double Base::squaredMahalanobisDistance(const Vector& v) const { + // Note: for Diagonal, which does ediv_, will be correct for constraints + Vector w = whiten(v); + return w.dot(w); +} + /* ************************************************************************* */ Gaussian::shared_ptr Gaussian::SqrtInformation(const Matrix& R, bool smart) { size_t m = R.rows(), n = R.cols(); @@ -164,13 +171,6 @@ Vector Gaussian::unwhiten(const Vector& v) const { return backSubstituteUpper(thisR(), v); } -/* ************************************************************************* */ -double Gaussian::squaredMahalanobisDistance(const Vector& v) const { - // Note: for Diagonal, which does ediv_, will be correct for constraints - Vector w = whiten(v); - return w.dot(w); -} - /* ************************************************************************* */ Matrix Gaussian::Whiten(const Matrix& H) const { return thisR() * H; @@ -376,6 +376,7 @@ Vector Constrained::whiten(const Vector& v) const { return c; } +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /* ************************************************************************* */ double Constrained::error(const Vector& v) const { Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements @@ -384,6 +385,16 @@ double Constrained::error(const Vector& v) const { w[i] = v[i] * sqrt(mu_[i]); // TODO: may want to store sqrt rather than rebuild return 0.5 * w.dot(w); } +#endif + +/* ************************************************************************* */ +double Constrained::squaredMahalanobisDistance(const Vector& v) const { + Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements + for (size_t i=0; ireweight(A1,A2,A3,b); } -Robust::shared_ptr Robust::Create(const RobustModel::shared_ptr& robust, - const noiseModel::Base::shared_ptr noise) { - SharedGaussian gaussian; - if (!(gaussian = boost::dynamic_pointer_cast(noise))) - { - throw std::invalid_argument("The noise model inside robust must be Gaussian"); - }; - return shared_ptr(new Robust(robust, gaussian)); +Robust::shared_ptr Robust::Create( +const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){ + return shared_ptr(new Robust(robust,noise)); } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 449a70cf3..7494e0501 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -90,13 +90,26 @@ namespace gtsam { /// Unwhiten an error vector. virtual Vector unwhiten(const Vector& v) const = 0; + /// Squared Mahalanobis distance v'*R'*R*v = + virtual double squaredMahalanobisDistance(const Vector& v) const; + + /// Mahalanobis distance + virtual double mahalanobisDistance(const Vector& v) const { + return std::sqrt(squaredMahalanobisDistance(v)); + } + + /// loss function, input is Mahalanobis distance + virtual double loss(const double squared_distance) const { + return 0.5 * squared_distance; + } + +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// calculate the error value given measurement error vector virtual double error(const Vector& v) const = 0; -#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 virtual double distance(const Vector& v) { return error(v) * 2; - } + } #endif virtual void WhitenSystem(std::vector& A, Vector& b) const = 0; @@ -207,42 +220,30 @@ namespace gtsam { */ 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; - virtual Vector sigmas() const; - virtual Vector whiten(const Vector& v) const; - virtual Vector unwhiten(const Vector& v) const; - - /** - * Squared Mahalanobis distance v'*R'*R*v = - */ - virtual double squaredMahalanobisDistance(const Vector& v) const; - - /** - * Mahalanobis distance - */ - virtual double mahalanobisDistance(const Vector& v) const { - return std::sqrt(squaredMahalanobisDistance(v)); - } + void print(const std::string& name) const override; + bool equals(const Base& expected, double tol=1e-9) const override; + Vector sigmas() const override; + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 virtual double Mahalanobis(const Vector& v) const { return squaredMahalanobisDistance(v); } -#endif /** * error value 0.5 * v'*R'*R*v */ - inline virtual double error(const Vector& v) const { + inline double error(const Vector& v) const override { return 0.5 * squaredMahalanobisDistance(v); } +#endif /** * Multiply a derivative with R (derivative of whiten) * Equivalent to whitening each column of the input matrix. */ - virtual Matrix Whiten(const Matrix& H) const; + Matrix Whiten(const Matrix& H) const override; /** * In-place version @@ -257,10 +258,10 @@ namespace gtsam { /** * Whiten a system, in place as well */ - virtual void WhitenSystem(std::vector& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; + void WhitenSystem(std::vector& A, Vector& b) const override; + void WhitenSystem(Matrix& A, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const override; /** * Apply appropriately weighted QR factorization to the system [A b] @@ -345,13 +346,13 @@ namespace gtsam { return Variances(precisions.array().inverse(), smart); } - virtual void print(const std::string& name) const; - virtual Vector sigmas() const { return sigmas_; } - virtual Vector whiten(const Vector& v) const; - virtual Vector unwhiten(const Vector& v) const; - virtual Matrix Whiten(const Matrix& H) const; - virtual void WhitenInPlace(Matrix& H) const; - virtual void WhitenInPlace(Eigen::Block H) const; + void print(const std::string& name) const override; + Vector sigmas() const override { return sigmas_; } + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Return standard deviations (sqrt of diagonal) @@ -373,7 +374,7 @@ namespace gtsam { /** * Return R itself, but note that Whiten(H) is cheaper than R*H */ - virtual Matrix R() const { + Matrix R() const override { return invsigmas().asDiagonal(); } @@ -427,10 +428,10 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Constrained() {} + ~Constrained() {} /// true if a constrained noise mode, saves slow/clumsy dynamic casting - virtual bool isConstrained() const { return true; } + bool isConstrained() const override { return true; } /// Return true if a particular dimension is free or constrained bool constrained(size_t i) const; @@ -482,12 +483,16 @@ namespace gtsam { return MixedVariances(precisions.array().inverse()); } +#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /** * The error function for a constrained noisemodel, * for non-constrained versions, uses sigmas, otherwise * uses the penalty function with mu */ - virtual double error(const Vector& v) const; + double error(const Vector& v) const override; +#endif + + double squaredMahalanobisDistance(const Vector& v) const override; /** Fully constrained variations */ static shared_ptr All(size_t dim) { @@ -504,16 +509,16 @@ namespace gtsam { return shared_ptr(new Constrained(Vector::Constant(dim, mu), Vector::Constant(dim,0))); } - virtual void print(const std::string& name) const; + void print(const std::string& name) const override; /// Calculates error vector with weights applied - virtual Vector whiten(const Vector& v) const; + Vector whiten(const Vector& v) const override; /// Whitening functions will perform partial whitening on rows /// with a non-zero sigma. Other rows remain untouched. - virtual Matrix Whiten(const Matrix& H) const; - virtual void WhitenInPlace(Matrix& H) const; - virtual void WhitenInPlace(Eigen::Block H) const; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Apply QR factorization to the system [A b], taking into account constraints @@ -524,7 +529,7 @@ namespace gtsam { * @param Ab is the m*(n+1) augmented system matrix [A b] * @return diagonal noise model can be all zeros, mixed, or not-constrained */ - virtual Diagonal::shared_ptr QR(Matrix& Ab) const; + Diagonal::shared_ptr QR(Matrix& Ab) const override; /** * Returns a Unit version of a constrained noisemodel in which @@ -586,14 +591,14 @@ namespace gtsam { return Variance(dim, 1.0/precision, smart); } - virtual void print(const std::string& name) const; - virtual double squaredMahalanobisDistance(const Vector& v) const; - virtual Vector whiten(const Vector& v) const; - virtual Vector unwhiten(const Vector& v) const; - virtual Matrix Whiten(const Matrix& H) const; - virtual void WhitenInPlace(Matrix& H) const; - virtual void whitenInPlace(Vector& v) const; - virtual void WhitenInPlace(Eigen::Block H) const; + void print(const std::string& name) const override; + double squaredMahalanobisDistance(const Vector& v) const override; + Vector whiten(const Vector& v) const override; + Vector unwhiten(const Vector& v) const override; + Matrix Whiten(const Matrix& H) const override; + void WhitenInPlace(Matrix& H) const override; + void whitenInPlace(Vector& v) const override; + void WhitenInPlace(Eigen::Block H) const override; /** * Return standard deviation @@ -626,7 +631,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; - virtual ~Unit() {} + ~Unit() {} /** * Create a unit covariance noise model @@ -636,19 +641,19 @@ namespace gtsam { } /// true if a unit noise model, saves slow/clumsy dynamic casting - virtual bool isUnit() const { return true; } + bool isUnit() const override { return true; } - virtual void print(const std::string& name) const; - virtual double squaredMahalanobisDistance(const Vector& v) const {return v.dot(v); } - virtual Vector whiten(const Vector& v) const { return v; } - virtual Vector unwhiten(const Vector& v) const { return v; } - virtual Matrix Whiten(const Matrix& H) const { return H; } - virtual void WhitenInPlace(Matrix& /*H*/) const {} - virtual void WhitenInPlace(Eigen::Block /*H*/) const {} - virtual void whitenInPlace(Vector& /*v*/) const {} - virtual void unwhitenInPlace(Vector& /*v*/) const {} - virtual void whitenInPlace(Eigen::Block& /*v*/) const {} - virtual void unwhitenInPlace(Eigen::Block& /*v*/) const {} + void print(const std::string& name) const override; + double squaredMahalanobisDistance(const Vector& v) const override {return v.dot(v); } + Vector whiten(const Vector& v) const override { return v; } + Vector unwhiten(const Vector& v) const override { return v; } + Matrix Whiten(const Matrix& H) const override { return H; } + void WhitenInPlace(Matrix& /*H*/) const override {} + void WhitenInPlace(Eigen::Block /*H*/) const override {} + void whitenInPlace(Vector& /*v*/) const override {} + void unwhitenInPlace(Vector& /*v*/) const override {} + void whitenInPlace(Eigen::Block& /*v*/) const override {} + void unwhitenInPlace(Eigen::Block& /*v*/) const override {} private: /** Serialization function */ @@ -682,7 +687,7 @@ namespace gtsam { protected: typedef mEstimator::Base RobustModel; - typedef noiseModel::Gaussian NoiseModel; + typedef noiseModel::Base NoiseModel; const RobustModel::shared_ptr robust_; ///< robust error function used const NoiseModel::shared_ptr noise_; ///< noise model used @@ -697,10 +702,10 @@ namespace gtsam { : Base(noise->dim()), robust_(robust), noise_(noise) {} /// Destructor - virtual ~Robust() {} + ~Robust() {} - virtual void print(const std::string& name) const; - virtual bool equals(const Base& expected, double tol=1e-9) const; + void print(const std::string& name) const override; + bool equals(const Base& expected, double tol=1e-9) const override; /// Return the contained robust error function const RobustModel::shared_ptr& robust() const { return robust_; } @@ -709,37 +714,42 @@ namespace gtsam { const NoiseModel::shared_ptr& noise() const { return noise_; } // TODO: functions below are dummy but necessary for the noiseModel::Base - inline virtual Vector whiten(const Vector& v) const + inline Vector whiten(const Vector& v) const override { Vector r = v; this->WhitenSystem(r); return r; } - inline virtual Matrix Whiten(const Matrix& A) const + inline Matrix Whiten(const Matrix& A) const override { Vector b; Matrix B=A; this->WhitenSystem(B,b); return B; } - inline virtual Vector unwhiten(const Vector& /*v*/) const + inline Vector unwhiten(const Vector& /*v*/) const override { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); } #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 - inline virtual double distance(const Vector& v) { + inline double distance(const Vector& v) override { return robust_->loss(this->unweightedWhiten(v).norm()); } -#endif // Fold the use of the m-estimator loss(...) function into error(...) - inline virtual double error(const Vector& v) const + inline double error(const Vector& v) const override { return robust_->loss(noise_->mahalanobisDistance(v)); } +#endif + + double loss(const double squared_distance) const override { + return robust_->loss(std::sqrt(squared_distance)); + } + // TODO: these are really robust iterated re-weighting support functions virtual void WhitenSystem(Vector& b) const; - virtual void WhitenSystem(std::vector& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const; - virtual void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const; + void WhitenSystem(std::vector& A, Vector& b) const override; + void WhitenSystem(Matrix& A, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Vector& b) const override; + void WhitenSystem(Matrix& A1, Matrix& A2, Matrix& A3, Vector& b) const override; - virtual Vector unweightedWhiten(const Vector& v) const { + Vector unweightedWhiten(const Vector& v) const override { return noise_->unweightedWhiten(v); } - virtual double weight(const Vector& v) const { + double weight(const Vector& v) const override { // Todo(mikebosse): make the robust weight function input a vector. return robust_->weight(v.norm()); } static shared_ptr Create( - const RobustModel::shared_ptr &robust, const noiseModel::Base::shared_ptr noise); + const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise); private: /** Serialization function */ diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index 40fc1c427..1cfcba274 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -121,7 +121,7 @@ double NoiseModelFactor::error(const Values& c) const { const Vector b = unwhitenedError(c); check(noiseModel_, b.size()); if (noiseModel_) - return noiseModel_->error(b); + return noiseModel_->loss(noiseModel_->squaredMahalanobisDistance(b)); else return 0.5 * b.squaredNorm(); } else { From ec993497f322df8b8c3dbbbfeef80d59c397405c Mon Sep 17 00:00:00 2001 From: yetongumich Date: Sun, 12 Jul 2020 23:09:13 -0400 Subject: [PATCH 094/120] deprecate error in noisemodel, use loss instead; revise virtual with override --- gtsam/linear/JacobianFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index be9b17052..b8a08be9e 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -515,7 +515,7 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const { double JacobianFactor::error(const VectorValues& c) const { Vector e = unweighted_error(c); // Use the noise model distance function to get the correct error if available. - if (model_) return model_->error(e); + if (model_) return 0.5 * model_->squaredMahalanobisDistance(e); return 0.5 * e.dot(e); } From ec69c7a2a9db299f9ba692a4879d656c243db35f Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 16:03:48 -0400 Subject: [PATCH 095/120] Extra tests on frontal keys --- gtsam/discrete/tests/testDiscreteBayesTree.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index 9950c014e..6823d3c04 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -80,6 +80,12 @@ TEST_UNSAFE(DiscreteBayesTree, ThinTree) { bayesTree->saveGraph("/tmp/discreteBayesTree.dot"); } + // Check frontals and parents + for (size_t i : {13, 14, 9, 3, 2, 8, 1, 0, 10, 5, 4}) { + auto clique_i = (*bayesTree)[i]; + EXPECT_LONGS_EQUAL(i, *(clique_i->conditional_->beginFrontals())); + } + auto R = bayesTree->roots().front(); // Check whether BN and BT give the same answer on all configurations From 8666a15f2e388651e9ab50de59423989a5fec189 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 16:04:01 -0400 Subject: [PATCH 096/120] Some more refactoring of marginals --- .../discrete/tests/testDiscreteBayesTree.cpp | 58 ++++++++++--------- 1 file changed, 32 insertions(+), 26 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index 6823d3c04..11a88af59 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -110,16 +110,22 @@ TEST_UNSAFE(DiscreteBayesTree, ThinTree) { double px = bayesTree->evaluate(x); for (size_t i = 0; i < 15; i++) if (x[i]) marginals[i] += px; - if (x[12] && x[14]) joint_12_14 += px; - if (x[9] && x[12] && x[14]) joint_9_12_14 += px; - if (x[8] && x[12] && x[14]) joint_8_12_14 += px; + if (x[12] && x[14]) { + joint_12_14 += px; + if (x[9]) joint_9_12_14 += px; + if (x[8]) joint_8_12_14 += px; + } if (x[8] && x[12]) joint_8_12 += px; - if (x[8] && x[2]) joint82 += px; - if (x[1] && x[2]) joint12 += px; - if (x[2] && x[4]) joint24 += px; - if (x[4] && x[5]) joint45 += px; - if (x[4] && x[6]) joint46 += px; - if (x[4] && x[11]) joint_4_11 += px; + if (x[2]) { + if (x[8]) joint82 += px; + if (x[1]) joint12 += px; + } + if (x[4]) { + if (x[2]) joint24 += px; + if (x[5]) joint45 += px; + if (x[6]) joint46 += px; + if (x[11]) joint_4_11 += px; + } if (x[11] && x[13]) { joint_11_13 += px; if (x[8] && x[12]) joint_8_11_12_13 += px; @@ -135,50 +141,50 @@ TEST_UNSAFE(DiscreteBayesTree, ThinTree) { DiscreteFactor::Values all1 = allPosbValues.back(); // check separator marginal P(S0) - auto c = (*bayesTree)[0]; + auto clique = (*bayesTree)[0]; DiscreteFactorGraph separatorMarginal0 = - c->separatorMarginal(EliminateDiscrete); + clique->separatorMarginal(EliminateDiscrete); DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); // check separator marginal P(S9), should be P(14) - c = (*bayesTree)[9]; + clique = (*bayesTree)[9]; DiscreteFactorGraph separatorMarginal9 = - c->separatorMarginal(EliminateDiscrete); + clique->separatorMarginal(EliminateDiscrete); DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); // check separator marginal of root, should be empty - c = (*bayesTree)[11]; + clique = (*bayesTree)[11]; DiscreteFactorGraph separatorMarginal11 = - c->separatorMarginal(EliminateDiscrete); + clique->separatorMarginal(EliminateDiscrete); LONGS_EQUAL(0, separatorMarginal11.size()); // check shortcut P(S9||R) to root - c = (*bayesTree)[9]; - DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); + clique = (*bayesTree)[9]; + DiscreteBayesNet shortcut = clique->shortcut(R, EliminateDiscrete); LONGS_EQUAL(1, shortcut.size()); DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9); // check shortcut P(S8||R) to root - c = (*bayesTree)[8]; - shortcut = c->shortcut(R, EliminateDiscrete); + clique = (*bayesTree)[8]; + shortcut = clique->shortcut(R, EliminateDiscrete); DOUBLES_EQUAL(joint_11_12_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9); // check shortcut P(S2||R) to root - c = (*bayesTree)[2]; - shortcut = c->shortcut(R, EliminateDiscrete); + clique = (*bayesTree)[2]; + shortcut = clique->shortcut(R, EliminateDiscrete); DOUBLES_EQUAL(joint_9_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9); // check shortcut P(S0||R) to root - c = (*bayesTree)[0]; - shortcut = c->shortcut(R, EliminateDiscrete); + clique = (*bayesTree)[0]; + shortcut = clique->shortcut(R, EliminateDiscrete); DOUBLES_EQUAL(joint_8_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9); // calculate all shortcuts to root DiscreteBayesTree::Nodes cliques = bayesTree->nodes(); - for (auto c : cliques) { - DiscreteBayesNet shortcut = c.second->shortcut(R, EliminateDiscrete); + for (auto clique : cliques) { + DiscreteBayesNet shortcut = clique.second->shortcut(R, EliminateDiscrete); if (debug) { - c.second->conditional_->printSignature(); + clique.second->conditional_->printSignature(); shortcut.print("shortcut:"); } } From 9c5bba753cc8d9a1c21b8d14cd24f08bb1688239 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 12:28:43 -0400 Subject: [PATCH 097/120] Fix confusion between parents and frontals --- gtsam/discrete/DiscreteConditional.h | 16 +++++++++ gtsam/discrete/tests/testDiscreteBayesNet.cpp | 36 ++++++++++++++++++- .../tests/testDiscreteConditional.cpp | 5 +++ 3 files changed, 56 insertions(+), 1 deletion(-) diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 225e6e1d3..b1e9da754 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -90,6 +90,22 @@ public: /// GTSAM-style equals bool equals(const DiscreteFactor& other, double tol = 1e-9) const; + /// @} + /// @name Parent keys are stored *first* in a DiscreteConditional, so re-jigger: + /// @{ + + /** Iterator pointing to first frontal key. */ + typename DecisionTreeFactor::const_iterator beginFrontals() const { return endParents(); } + + /** Iterator pointing past the last frontal key. */ + typename DecisionTreeFactor::const_iterator endFrontals() const { return end(); } + + /** Iterator pointing to the first parent key. */ + typename DecisionTreeFactor::const_iterator beginParents() const { return begin(); } + + /** Iterator pointing past the last parent key. */ + typename DecisionTreeFactor::const_iterator endParents() const { return end() - nrFrontals_; } + /// @} /// @name Standard Interface /// @{ diff --git a/gtsam/discrete/tests/testDiscreteBayesNet.cpp b/gtsam/discrete/tests/testDiscreteBayesNet.cpp index 5ed662332..c3f8aacf1 100644 --- a/gtsam/discrete/tests/testDiscreteBayesNet.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesNet.cpp @@ -18,8 +18,10 @@ #include #include -#include +#include #include +#include +#include #include @@ -29,10 +31,42 @@ using namespace boost::assign; #include +#include +#include using namespace std; using namespace gtsam; +/* ************************************************************************* */ +TEST(DiscreteBayesNet, bayesNet) { + DiscreteBayesNet bayesNet; + DiscreteKey Parent(0, 2), Child(1, 2); + + auto prior = boost::make_shared(Parent % "6/4"); + CHECK(assert_equal(Potentials::ADT({Parent}, "0.6 0.4"), + (Potentials::ADT)*prior)); + bayesNet.push_back(prior); + + auto conditional = + boost::make_shared(Child | Parent = "7/3 8/2"); + EXPECT_LONGS_EQUAL(1, *(conditional->beginFrontals())); + Potentials::ADT expected(Child & Parent, "0.7 0.8 0.3 0.2"); + CHECK(assert_equal(expected, (Potentials::ADT)*conditional)); + bayesNet.push_back(conditional); + + DiscreteFactorGraph fg(bayesNet); + LONGS_EQUAL(2, fg.back()->size()); + + // Check the marginals + const double expectedMarginal[2]{0.4, 0.6 * 0.3 + 0.4 * 0.2}; + DiscreteMarginals marginals(fg); + for (size_t j = 0; j < 2; j++) { + Vector FT = marginals.marginalProbabilities(DiscreteKey(j, 2)); + EXPECT_DOUBLES_EQUAL(expectedMarginal[j], FT[1], 1e-3); + EXPECT_DOUBLES_EQUAL(FT[0], 1.0 - FT[1], 1e-9); + } +} + /* ************************************************************************* */ TEST(DiscreteBayesNet, Asia) { diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp index 888bf76df..577edecb3 100644 --- a/gtsam/discrete/tests/testDiscreteConditional.cpp +++ b/gtsam/discrete/tests/testDiscreteConditional.cpp @@ -36,6 +36,11 @@ TEST( DiscreteConditional, constructors) DiscreteConditional::shared_ptr expected1 = // boost::make_shared(X | Y = "1/1 2/3 1/4"); EXPECT(expected1); + EXPECT_LONGS_EQUAL(0, *(expected1->beginFrontals())); + EXPECT_LONGS_EQUAL(2, *(expected1->beginParents())); + EXPECT(expected1->endParents() == expected1->beginFrontals()); + EXPECT(expected1->endFrontals() == expected1->end()); + 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)); From 1ffddf72e1e3ef3a6b60ba35f35f09817bf26f1c Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 16:50:55 -0400 Subject: [PATCH 098/120] Added code to re-jigger Signature cpt so that frontal keys are always first, consistent with how the DiscreteElimination function works. --- gtsam/discrete/DiscreteConditional.cpp | 7 ++-- gtsam/discrete/DiscreteConditional.h | 16 -------- gtsam/discrete/Signature.cpp | 18 +++++---- gtsam/discrete/Signature.h | 4 +- .../tests/testAlgebraicDecisionTree.cpp | 7 ++-- .../tests/testDiscreteConditional.cpp | 4 +- gtsam/discrete/tests/testSignature.cpp | 38 ++++++++++--------- 7 files changed, 42 insertions(+), 52 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index 2ab3054a8..b5b5c0dbc 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -61,10 +61,9 @@ DiscreteConditional::DiscreteConditional(const DecisionTreeFactor& joint, } /* ******************************************************************************** */ -DiscreteConditional::DiscreteConditional(const Signature& signature) : - BaseFactor(signature.discreteKeysParentsFirst(), signature.cpt()), BaseConditional( - 1) { -} +DiscreteConditional::DiscreteConditional(const Signature& signature) + : BaseFactor(signature.discreteKeys(), signature.cpt()), + BaseConditional(1) {} /* ******************************************************************************** */ void DiscreteConditional::print(const std::string& s, diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index b1e9da754..225e6e1d3 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -90,22 +90,6 @@ public: /// GTSAM-style equals bool equals(const DiscreteFactor& other, double tol = 1e-9) const; - /// @} - /// @name Parent keys are stored *first* in a DiscreteConditional, so re-jigger: - /// @{ - - /** Iterator pointing to first frontal key. */ - typename DecisionTreeFactor::const_iterator beginFrontals() const { return endParents(); } - - /** Iterator pointing past the last frontal key. */ - typename DecisionTreeFactor::const_iterator endFrontals() const { return end(); } - - /** Iterator pointing to the first parent key. */ - typename DecisionTreeFactor::const_iterator beginParents() const { return begin(); } - - /** Iterator pointing past the last parent key. */ - typename DecisionTreeFactor::const_iterator endParents() const { return end() - nrFrontals_; } - /// @} /// @name Standard Interface /// @{ diff --git a/gtsam/discrete/Signature.cpp b/gtsam/discrete/Signature.cpp index 89e763703..94b160a29 100644 --- a/gtsam/discrete/Signature.cpp +++ b/gtsam/discrete/Signature.cpp @@ -122,28 +122,30 @@ namespace gtsam { key_(key) { } - DiscreteKeys Signature::discreteKeysParentsFirst() const { + DiscreteKeys Signature::discreteKeys() const { DiscreteKeys keys; - for(const DiscreteKey& key: parents_) - keys.push_back(key); keys.push_back(key_); + for (const DiscreteKey& key : parents_) keys.push_back(key); return keys; } KeyVector Signature::indices() const { KeyVector js; js.push_back(key_.first); - for(const DiscreteKey& key: parents_) - js.push_back(key.first); + for (const DiscreteKey& key : parents_) js.push_back(key.first); return js; } vector Signature::cpt() const { vector cpt; if (table_) { - for(const Row& row: *table_) - for(const double& x: row) - cpt.push_back(x); + const size_t nrStates = table_->at(0).size(); + for (size_t j = 0; j < nrStates; j++) { + for (const Row& row : *table_) { + assert(row.size() == nrStates); + cpt.push_back(row[j]); + } + } } return cpt; } diff --git a/gtsam/discrete/Signature.h b/gtsam/discrete/Signature.h index 587cd6b30..6c59b5bff 100644 --- a/gtsam/discrete/Signature.h +++ b/gtsam/discrete/Signature.h @@ -86,8 +86,8 @@ namespace gtsam { return parents_; } - /** All keys, with variable key last */ - DiscreteKeys discreteKeysParentsFirst() const; + /** All keys, with variable key first */ + DiscreteKeys discreteKeys() const; /** All key indices, with variable key first */ KeyVector indices() const; diff --git a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp index 753af16d8..0261ef833 100644 --- a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp +++ b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp @@ -132,7 +132,7 @@ TEST(ADT, example3) /** Convert Signature into CPT */ ADT create(const Signature& signature) { - ADT p(signature.discreteKeysParentsFirst(), signature.cpt()); + ADT p(signature.discreteKeys(), signature.cpt()); static size_t count = 0; const DiscreteKey& key = signature.key(); string dotfile = (boost::format("CPT-%03d-%d") % ++count % key.first).str(); @@ -181,19 +181,20 @@ TEST(ADT, joint) dot(joint, "Asia-ASTLBEX"); joint = apply(joint, pD, &mul); dot(joint, "Asia-ASTLBEXD"); - EXPECT_LONGS_EQUAL(346, (long)muls); + EXPECT_LONGS_EQUAL(346, muls); gttoc_(asiaJoint); tictoc_getNode(asiaJointNode, asiaJoint); elapsed = asiaJointNode->secs() + asiaJointNode->wall(); tictoc_reset_(); printCounts("Asia joint"); + // Form P(A,S,T,L) = P(A) P(S) P(T|A) P(L|S) ADT pASTL = pA; pASTL = apply(pASTL, pS, &mul); pASTL = apply(pASTL, pT, &mul); pASTL = apply(pASTL, pL, &mul); - // test combine + // test combine to check that P(A) = \sum_{S,T,L} P(A,S,T,L) ADT fAa = pASTL.combine(L, &add_).combine(T, &add_).combine(S, &add_); EXPECT(assert_equal(pA, fAa)); ADT fAb = pASTL.combine(S, &add_).combine(T, &add_).combine(L, &add_); diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp index 577edecb3..749186d14 100644 --- a/gtsam/discrete/tests/testDiscreteConditional.cpp +++ b/gtsam/discrete/tests/testDiscreteConditional.cpp @@ -38,8 +38,8 @@ TEST( DiscreteConditional, constructors) EXPECT(expected1); EXPECT_LONGS_EQUAL(0, *(expected1->beginFrontals())); EXPECT_LONGS_EQUAL(2, *(expected1->beginParents())); - EXPECT(expected1->endParents() == expected1->beginFrontals()); - EXPECT(expected1->endFrontals() == expected1->end()); + EXPECT(expected1->endParents() == expected1->end()); + EXPECT(expected1->endFrontals() == expected1->beginParents()); DecisionTreeFactor f1(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8"); DiscreteConditional actual1(1, f1); diff --git a/gtsam/discrete/tests/testSignature.cpp b/gtsam/discrete/tests/testSignature.cpp index de47a00f3..830fc32fc 100644 --- a/gtsam/discrete/tests/testSignature.cpp +++ b/gtsam/discrete/tests/testSignature.cpp @@ -11,36 +11,37 @@ /** * @file testSignature - * @brief Tests focusing on the details of Signatures to evaluate boost compliance + * @brief Tests focusing on the details of Signatures to evaluate boost + * compliance * @author Alex Cunningham * @date Sept 19th 2011 */ -#include #include - #include #include +#include + using namespace std; using namespace gtsam; using namespace boost::assign; -DiscreteKey X(0,2), Y(1,3), Z(2,2); +DiscreteKey X(0, 2), Y(1, 3), Z(2, 2); /* ************************************************************************* */ TEST(testSignature, simple_conditional) { Signature sig(X | Y = "1/1 2/3 1/4"); DiscreteKey actKey = sig.key(); - LONGS_EQUAL((long)X.first, (long)actKey.first); + LONGS_EQUAL(X.first, actKey.first); - DiscreteKeys actKeys = sig.discreteKeysParentsFirst(); - LONGS_EQUAL(2, (long)actKeys.size()); - LONGS_EQUAL((long)Y.first, (long)actKeys.front().first); - LONGS_EQUAL((long)X.first, (long)actKeys.back().first); + DiscreteKeys actKeys = sig.discreteKeys(); + LONGS_EQUAL(2, actKeys.size()); + LONGS_EQUAL(X.first, actKeys.front().first); + LONGS_EQUAL(Y.first, actKeys.back().first); vector actCpt = sig.cpt(); - EXPECT_LONGS_EQUAL(6, (long)actCpt.size()); + EXPECT_LONGS_EQUAL(6, actCpt.size()); } /* ************************************************************************* */ @@ -54,17 +55,20 @@ TEST(testSignature, simple_conditional_nonparser) { Signature sig(X | Y = table); DiscreteKey actKey = sig.key(); - EXPECT_LONGS_EQUAL((long)X.first, (long)actKey.first); + EXPECT_LONGS_EQUAL(X.first, actKey.first); - DiscreteKeys actKeys = sig.discreteKeysParentsFirst(); - LONGS_EQUAL(2, (long)actKeys.size()); - LONGS_EQUAL((long)Y.first, (long)actKeys.front().first); - LONGS_EQUAL((long)X.first, (long)actKeys.back().first); + DiscreteKeys actKeys = sig.discreteKeys(); + LONGS_EQUAL(2, actKeys.size()); + LONGS_EQUAL(X.first, actKeys.front().first); + LONGS_EQUAL(Y.first, actKeys.back().first); vector actCpt = sig.cpt(); - EXPECT_LONGS_EQUAL(6, (long)actCpt.size()); + EXPECT_LONGS_EQUAL(6, actCpt.size()); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ From 7dba3023d6f6057762ff80ec05d3e716c976e59b Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sat, 11 Jul 2020 13:16:08 -0400 Subject: [PATCH 099/120] New discrete example --- examples/DiscreteBayesNetExample.cpp | 82 ++++++++++++++++++++++++++++ examples/DiscreteBayesNet_FG.cpp | 2 +- 2 files changed, 83 insertions(+), 1 deletion(-) create mode 100644 examples/DiscreteBayesNetExample.cpp diff --git a/examples/DiscreteBayesNetExample.cpp b/examples/DiscreteBayesNetExample.cpp new file mode 100644 index 000000000..3531fd723 --- /dev/null +++ b/examples/DiscreteBayesNetExample.cpp @@ -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 + + * -------------------------------------------------------------------------- */ + +/** + * @file DiscreteBayesNetExample.cpp + * @brief Discrete Bayes Net example with famous Asia Bayes Network + * @author Frank Dellaert + * @date JULY 10, 2020 + */ + +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char **argv) { + DiscreteBayesNet asia; + DiscreteKey Asia(0, 2), Smoking(4, 2), Tuberculosis(3, 2), LungCancer(6, 2), + Bronchitis(7, 2), Either(5, 2), XRay(2, 2), Dyspnea(1, 2); + asia.add(Asia % "99/1"); + asia.add(Smoking % "50/50"); + + asia.add(Tuberculosis | Asia = "99/1 95/5"); + asia.add(LungCancer | Smoking = "99/1 90/10"); + asia.add(Bronchitis | Smoking = "70/30 40/60"); + + asia.add((Either | Tuberculosis, LungCancer) = "F T T T"); + + asia.add(XRay | Either = "95/5 2/98"); + asia.add((Dyspnea | Either, Bronchitis) = "9/1 2/8 3/7 1/9"); + + // print + vector pretty = {"Asia", "Dyspnea", "XRay", "Tuberculosis", + "Smoking", "Either", "LungCancer", "Bronchitis"}; + auto formatter = [pretty](Key key) { return pretty[key]; }; + asia.print("Asia", formatter); + + // Convert to factor graph + DiscreteFactorGraph fg(asia); + + // Create solver and eliminate + Ordering ordering; + ordering += Key(0), Key(1), Key(2), Key(3), Key(4), Key(5), Key(6), Key(7); + DiscreteBayesNet::shared_ptr chordal = fg.eliminateSequential(ordering); + + // solve + DiscreteFactor::sharedValues mpe = chordal->optimize(); + GTSAM_PRINT(*mpe); + + // We can also build a Bayes tree (directed junction tree). + // The elimination order above will do fine: + auto bayesTree = fg.eliminateMultifrontal(ordering); + bayesTree->print("bayesTree", formatter); + + // add evidence, we were in Asia and we have dyspnea + fg.add(Asia, "0 1"); + fg.add(Dyspnea, "0 1"); + + // solve again, now with evidence + DiscreteBayesNet::shared_ptr chordal2 = fg.eliminateSequential(ordering); + DiscreteFactor::sharedValues mpe2 = chordal2->optimize(); + GTSAM_PRINT(*mpe2); + + // We can also sample from it + cout << "\n10 samples:" << endl; + for (size_t i = 0; i < 10; i++) { + DiscreteFactor::sharedValues sample = chordal2->sample(); + GTSAM_PRINT(*sample); + } + return 0; +} diff --git a/examples/DiscreteBayesNet_FG.cpp b/examples/DiscreteBayesNet_FG.cpp index 9802b5984..121df4bef 100644 --- a/examples/DiscreteBayesNet_FG.cpp +++ b/examples/DiscreteBayesNet_FG.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file DiscreteBayesNet_graph.cpp + * @file DiscreteBayesNet_FG.cpp * @brief Discrete Bayes Net example using Factor Graphs * @author Abhijit * @date Jun 4, 2012 From 550dc377e3703fd13e2ec5f7a121a3067b5ac2e1 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sat, 11 Jul 2020 13:16:35 -0400 Subject: [PATCH 100/120] Better print --- gtsam/discrete/DiscreteConditional.cpp | 20 ++++++++++++++++---- 1 file changed, 16 insertions(+), 4 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index b5b5c0dbc..acd0cefee 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -27,6 +27,7 @@ #include #include #include +#include #include using namespace std; @@ -66,10 +67,21 @@ DiscreteConditional::DiscreteConditional(const Signature& signature) BaseConditional(1) {} /* ******************************************************************************** */ -void DiscreteConditional::print(const std::string& s, - const KeyFormatter& formatter) const { - std::cout << s << std::endl; - Potentials::print(s); +void DiscreteConditional::print(const string& s, + const KeyFormatter& formatter) const { + cout << s << " P( "; + for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) { + cout << formatter(*it) << " "; + } + if (nrParents()) { + cout << "| "; + for (const_iterator it = beginParents(); it != endParents(); ++it) { + cout << formatter(*it) << " "; + } + } + cout << ")"; + Potentials::print(""); + cout << endl; } /* ******************************************************************************** */ From 4c7ba2a98f7012199b9c3bbf16f03b2fe946cd93 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sat, 11 Jul 2020 13:18:48 -0400 Subject: [PATCH 101/120] Cleaned up tests --- gtsam/discrete/tests/testDiscreteBayesNet.cpp | 90 +++++++++---------- .../tests/testDiscreteConditional.cpp | 71 +++++++-------- .../discrete/tests/testDiscreteMarginals.cpp | 42 +++++---- gtsam/discrete/tests/testSignature.cpp | 6 ++ 4 files changed, 100 insertions(+), 109 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteBayesNet.cpp b/gtsam/discrete/tests/testDiscreteBayesNet.cpp index c3f8aacf1..2b440e5a0 100644 --- a/gtsam/discrete/tests/testDiscreteBayesNet.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesNet.cpp @@ -25,8 +25,9 @@ #include -#include + #include +#include using namespace boost::assign; @@ -68,94 +69,84 @@ TEST(DiscreteBayesNet, bayesNet) { } /* ************************************************************************* */ -TEST(DiscreteBayesNet, Asia) -{ +TEST(DiscreteBayesNet, Asia) { DiscreteBayesNet asia; -// DiscreteKey A("Asia"), S("Smoking"), T("Tuberculosis"), L("LungCancer"), B( -// "Bronchitis"), E("Either"), X("XRay"), D("Dyspnoea"); - 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); + DiscreteKey Asia(0, 2), Smoking(4, 2), Tuberculosis(3, 2), LungCancer(6, 2), + Bronchitis(7, 2), Either(5, 2), XRay(2, 2), Dyspnea(1, 2); - // TODO: make a version that doesn't use the parser - asia.add(A % "99/1"); - asia.add(S % "50/50"); + asia.add(Asia % "99/1"); + asia.add(Smoking % "50/50"); - asia.add(T | A = "99/1 95/5"); - asia.add(L | S = "99/1 90/10"); - asia.add(B | S = "70/30 40/60"); + asia.add(Tuberculosis | Asia = "99/1 95/5"); + asia.add(LungCancer | Smoking = "99/1 90/10"); + asia.add(Bronchitis | Smoking = "70/30 40/60"); - asia.add((E | T, L) = "F T T T"); + asia.add((Either | Tuberculosis, LungCancer) = "F T T T"); - asia.add(X | E = "95/5 2/98"); - // next lines are same as asia.add((D | E, B) = "9/1 2/8 3/7 1/9"); - DiscreteConditional::shared_ptr actual = - boost::make_shared((D | E, B) = "9/1 2/8 3/7 1/9"); - asia.push_back(actual); - // GTSAM_PRINT(asia); + asia.add(XRay | Either = "95/5 2/98"); + asia.add((Dyspnea | Either, Bronchitis) = "9/1 2/8 3/7 1/9"); // Convert to factor graph DiscreteFactorGraph fg(asia); -// GTSAM_PRINT(fg); - LONGS_EQUAL(3,fg.back()->size()); - Potentials::ADT expected(B & D & E, "0.9 0.3 0.1 0.7 0.2 0.1 0.8 0.9"); - CHECK(assert_equal(expected,(Potentials::ADT)*actual)); + LONGS_EQUAL(3, fg.back()->size()); + + // Check the marginals we know (of the parent-less nodes) + DiscreteMarginals marginals(fg); + Vector2 va(0.99, 0.01), vs(0.5, 0.5); + EXPECT(assert_equal(va, marginals.marginalProbabilities(Asia))); + EXPECT(assert_equal(vs, marginals.marginalProbabilities(Smoking))); // Create solver and eliminate Ordering ordering; - ordering += Key(0),Key(1),Key(2),Key(3),Key(4),Key(5),Key(6),Key(7); + ordering += Key(0), Key(1), Key(2), Key(3), Key(4), Key(5), Key(6), Key(7); DiscreteBayesNet::shared_ptr chordal = fg.eliminateSequential(ordering); -// GTSAM_PRINT(*chordal); - DiscreteConditional expected2(B % "11/9"); - CHECK(assert_equal(expected2,*chordal->back())); + DiscreteConditional expected2(Bronchitis % "11/9"); + EXPECT(assert_equal(expected2, *chordal->back())); // solve DiscreteFactor::sharedValues actualMPE = chordal->optimize(); DiscreteFactor::Values expectedMPE; - insert(expectedMPE)(A.first, 0)(D.first, 0)(X.first, 0)(T.first, 0)(S.first, - 0)(E.first, 0)(L.first, 0)(B.first, 0); + insert(expectedMPE)(Asia.first, 0)(Dyspnea.first, 0)(XRay.first, 0)( + Tuberculosis.first, 0)(Smoking.first, 0)(Either.first, 0)( + LungCancer.first, 0)(Bronchitis.first, 0); EXPECT(assert_equal(expectedMPE, *actualMPE)); - // add evidence, we were in Asia and we have Dispnoea - fg.add(A, "0 1"); - fg.add(D, "0 1"); -// fg.product().dot("fg"); + // add evidence, we were in Asia and we have dyspnea + fg.add(Asia, "0 1"); + fg.add(Dyspnea, "0 1"); // solve again, now with evidence DiscreteBayesNet::shared_ptr chordal2 = fg.eliminateSequential(ordering); -// GTSAM_PRINT(*chordal2); DiscreteFactor::sharedValues actualMPE2 = chordal2->optimize(); DiscreteFactor::Values expectedMPE2; - insert(expectedMPE2)(A.first, 1)(D.first, 1)(X.first, 0)(T.first, 0)(S.first, - 1)(E.first, 0)(L.first, 0)(B.first, 1); + insert(expectedMPE2)(Asia.first, 1)(Dyspnea.first, 1)(XRay.first, 0)( + Tuberculosis.first, 0)(Smoking.first, 1)(Either.first, 0)( + LungCancer.first, 0)(Bronchitis.first, 1); EXPECT(assert_equal(expectedMPE2, *actualMPE2)); // now sample from it DiscreteFactor::Values expectedSample; SETDEBUG("DiscreteConditional::sample", false); - insert(expectedSample)(A.first, 1)(D.first, 1)(X.first, 1)(T.first, 0)( - S.first, 1)(E.first, 1)(L.first, 1)(B.first, 0); + insert(expectedSample)(Asia.first, 1)(Dyspnea.first, 1)(XRay.first, 1)( + Tuberculosis.first, 0)(Smoking.first, 1)(Either.first, 1)( + LungCancer.first, 1)(Bronchitis.first, 0); DiscreteFactor::sharedValues actualSample = chordal2->sample(); EXPECT(assert_equal(expectedSample, *actualSample)); } /* ************************************************************************* */ -TEST_UNSAFE(DiscreteBayesNet, Sugar) -{ - DiscreteKey T(0,2), L(1,2), E(2,2), D(3,2), C(8,3), S(7,2); +TEST_UNSAFE(DiscreteBayesNet, Sugar) { + DiscreteKey T(0, 2), L(1, 2), E(2, 2), C(8, 3), S(7, 2); DiscreteBayesNet bn; - // test some mistakes - // add(bn, D); - // add(bn, D | E); - // add(bn, D | E = "blah"); - // try logic bn.add((E | T, L) = "OR"); bn.add((E | T, L) = "AND"); - // // try multivalued - bn.add(C % "1/1/2"); - bn.add(C | S = "1/1/2 5/2/3"); + // try multivalued + bn.add(C % "1/1/2"); + bn.add(C | S = "1/1/2 5/2/3"); } /* ************************************************************************* */ @@ -164,4 +155,3 @@ int main() { return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ - diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp index 749186d14..3ac3ffc9e 100644 --- a/gtsam/discrete/tests/testDiscreteConditional.cpp +++ b/gtsam/discrete/tests/testDiscreteConditional.cpp @@ -16,9 +16,9 @@ * @date Feb 14, 2011 */ -#include #include #include +#include using namespace boost::assign; #include @@ -48,71 +48,68 @@ TEST( DiscreteConditional, constructors) 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)); + EXPECT(assert_equal(f2 / *f2.sum(1), *actual2.toFactor(), 1e-9)); } /* ************************************************************************* */ -TEST( DiscreteConditional, constructors_alt_interface) -{ - DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering ! +TEST(DiscreteConditional, 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; + 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); - EXPECT(expected1); + auto actual1 = boost::make_shared(X | Y = table); + EXPECT(actual1); 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)); + DiscreteConditional expected1(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"); + 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)); + EXPECT(assert_equal(f2 / *f2.sum(1), *actual2.toFactor(), 1e-9)); } /* ************************************************************************* */ -TEST( DiscreteConditional, constructors2) -{ +TEST(DiscreteConditional, constructors2) { // Declare keys and ordering - DiscreteKey C(0,2), B(1,2); - DecisionTreeFactor expected(C & B, "0.8 0.75 0.2 0.25"); + DiscreteKey C(0, 2), B(1, 2); + DecisionTreeFactor actual(C & B, "0.8 0.75 0.2 0.25"); Signature signature((C | B) = "4/1 3/1"); - DiscreteConditional actual(signature); - DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor(); - EXPECT(assert_equal(expected, *actualFactor)); + DiscreteConditional expected(signature); + DecisionTreeFactor::shared_ptr expectedFactor = expected.toFactor(); + EXPECT(assert_equal(*expectedFactor, actual)); } /* ************************************************************************* */ -TEST( DiscreteConditional, constructors3) -{ +TEST(DiscreteConditional, constructors3) { // 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"); + DiscreteKey C(0, 2), B(1, 2), A(2, 2); + DecisionTreeFactor actual(C & B & A, "0.8 0.5 0.5 0.2 0.2 0.5 0.5 0.8"); Signature signature((C | B, A) = "4/1 1/1 1/1 1/4"); - DiscreteConditional actual(signature); - DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor(); - EXPECT(assert_equal(expected, *actualFactor)); + DiscreteConditional expected(signature); + DecisionTreeFactor::shared_ptr expectedFactor = expected.toFactor(); + EXPECT(assert_equal(*expectedFactor, actual)); } /* ************************************************************************* */ -TEST( DiscreteConditional, Combine) { +TEST(DiscreteConditional, Combine) { DiscreteKey A(0, 2), B(1, 2); vector c; c.push_back(boost::make_shared(A | B = "1/2 2/1")); c.push_back(boost::make_shared(B % "1/2")); DecisionTreeFactor factor(A & B, "0.111111 0.444444 0.222222 0.222222"); - DiscreteConditional expected(2, factor); - DiscreteConditional::shared_ptr actual = DiscreteConditional::Combine( - c.begin(), c.end()); - EXPECT(assert_equal(expected, *actual,1e-5)); + DiscreteConditional actual(2, factor); + auto expected = DiscreteConditional::Combine(c.begin(), c.end()); + EXPECT(assert_equal(*expected, actual, 1e-5)); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ - diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp index 4e9f956b6..e1eb92af3 100644 --- a/gtsam/discrete/tests/testDiscreteMarginals.cpp +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -146,8 +146,7 @@ TEST_UNSAFE( DiscreteMarginals, truss ) { /* ************************************************************************* */ // Second truss example with non-trivial factors -TEST_UNSAFE( DiscreteMarginals, truss2 ) { - +TEST_UNSAFE(DiscreteMarginals, truss2) { const int nrNodes = 5; const size_t nrStates = 2; @@ -160,40 +159,39 @@ TEST_UNSAFE( DiscreteMarginals, truss2 ) { // create graph and add three truss potentials DiscreteFactorGraph graph; - graph.add(key[0] & key[2] & key[4],"1 2 3 4 5 6 7 8"); - graph.add(key[1] & key[3] & key[4],"1 2 3 4 5 6 7 8"); - graph.add(key[2] & key[3] & key[4],"1 2 3 4 5 6 7 8"); + graph.add(key[0] & key[2] & key[4], "1 2 3 4 5 6 7 8"); + graph.add(key[1] & key[3] & key[4], "1 2 3 4 5 6 7 8"); + graph.add(key[2] & key[3] & key[4], "1 2 3 4 5 6 7 8"); // Calculate the marginals by brute force - vector allPosbValues = cartesianProduct( - key[0] & key[1] & key[2] & key[3] & key[4]); + vector allPosbValues = + cartesianProduct(key[0] & key[1] & key[2] & key[3] & key[4]); Vector T = Z_5x1, F = Z_5x1; for (size_t i = 0; i < allPosbValues.size(); ++i) { DiscreteFactor::Values x = allPosbValues[i]; double px = graph(x); - for (size_t j=0;j<5;j++) - if (x[j]) T[j]+=px; else F[j]+=px; - // cout << x[0] << " " << x[1] << " "<< x[2] << " " << x[3] << " " << x[4] << " :\t" << px << endl; + for (size_t j = 0; j < 5; j++) + if (x[j]) + T[j] += px; + else + F[j] += px; } // Check all marginals given by a sequential solver and Marginals -// DiscreteSequentialSolver solver(graph); + // DiscreteSequentialSolver solver(graph); DiscreteMarginals marginals(graph); - for (size_t j=0;j<5;j++) { - double sum = T[j]+F[j]; - T[j]/=sum; - F[j]/=sum; - -// // solver -// Vector actualV = solver.marginalProbabilities(key[j]); -// EXPECT(assert_equal((Vector(2) << F[j], T[j]), actualV)); + for (size_t j = 0; j < 5; j++) { + double sum = T[j] + F[j]; + T[j] /= sum; + F[j] /= sum; // Marginals vector table; - table += F[j],T[j]; - DecisionTreeFactor expectedM(key[j],table); + table += F[j], T[j]; + DecisionTreeFactor expectedM(key[j], table); DiscreteFactor::shared_ptr actualM = marginals(j); - EXPECT(assert_equal(expectedM, *boost::dynamic_pointer_cast(actualM))); + EXPECT(assert_equal( + expectedM, *boost::dynamic_pointer_cast(actualM))); } } diff --git a/gtsam/discrete/tests/testSignature.cpp b/gtsam/discrete/tests/testSignature.cpp index 830fc32fc..049c455f7 100644 --- a/gtsam/discrete/tests/testSignature.cpp +++ b/gtsam/discrete/tests/testSignature.cpp @@ -22,6 +22,7 @@ #include #include +#include using namespace std; using namespace gtsam; @@ -32,6 +33,11 @@ DiscreteKey X(0, 2), Y(1, 3), Z(2, 2); /* ************************************************************************* */ TEST(testSignature, simple_conditional) { Signature sig(X | Y = "1/1 2/3 1/4"); + Signature::Table table = *sig.table(); + vector row[3]{{0.5, 0.5}, {0.4, 0.6}, {0.2, 0.8}}; + CHECK(row[0] == table[0]); + CHECK(row[1] == table[1]); + CHECK(row[2] == table[2]); DiscreteKey actKey = sig.key(); LONGS_EQUAL(X.first, actKey.first); From 33f045729893b4d77ba27a3abbcb9e73a98fc520 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sat, 11 Jul 2020 13:19:48 -0400 Subject: [PATCH 102/120] Use dict notation in print --- gtsam/discrete/Potentials.cpp | 68 ++++++++++++++++++----------------- 1 file changed, 35 insertions(+), 33 deletions(-) diff --git a/gtsam/discrete/Potentials.cpp b/gtsam/discrete/Potentials.cpp index c4cdbe0ef..fe99ea975 100644 --- a/gtsam/discrete/Potentials.cpp +++ b/gtsam/discrete/Potentials.cpp @@ -15,50 +15,52 @@ * @author Frank Dellaert */ -#include #include +#include + #include +#include + using namespace std; namespace gtsam { - // explicit instantiation - template class DecisionTree ; - template class AlgebraicDecisionTree ; +// explicit instantiation +template class DecisionTree; +template class AlgebraicDecisionTree; - /* ************************************************************************* */ - double Potentials::safe_div(const double& a, const double& b) { - // cout << boost::format("%g / %g = %g\n") % a % b % ((a == 0) ? 0 : (a / b)); - // The use for safe_div is when we divide the product factor by the sum factor. - // If the product or sum is zero, we accord zero probability to the event. - return (a == 0 || b == 0) ? 0 : (a / b); - } +/* ************************************************************************* */ +double Potentials::safe_div(const double& a, const double& b) { + // cout << boost::format("%g / %g = %g\n") % a % b % ((a == 0) ? 0 : (a / b)); + // The use for safe_div is when we divide the product factor by the sum + // factor. If the product or sum is zero, we accord zero probability to the + // event. + return (a == 0 || b == 0) ? 0 : (a / b); +} - /* ******************************************************************************** */ - Potentials::Potentials() : - ADT(1.0) { - } +/* ******************************************************************************** + */ +Potentials::Potentials() : ADT(1.0) {} - /* ******************************************************************************** */ - Potentials::Potentials(const DiscreteKeys& keys, const ADT& decisionTree) : - ADT(decisionTree), cardinalities_(keys.cardinalities()) { - } +/* ******************************************************************************** + */ +Potentials::Potentials(const DiscreteKeys& keys, const ADT& decisionTree) + : ADT(decisionTree), cardinalities_(keys.cardinalities()) {} - /* ************************************************************************* */ - bool Potentials::equals(const Potentials& other, double tol) const { - return ADT::equals(other, tol); - } +/* ************************************************************************* */ +bool Potentials::equals(const Potentials& other, double tol) const { + return ADT::equals(other, tol); +} - /* ************************************************************************* */ - void Potentials::print(const string& s, - const KeyFormatter& formatter) const { - cout << s << "\n Cardinalities: "; - for(const DiscreteKey& key: cardinalities_) - cout << formatter(key.first) << "=" << formatter(key.second) << " "; - cout << endl; - ADT::print(" "); - } +/* ************************************************************************* */ +void Potentials::print(const string& s, const KeyFormatter& formatter) const { + cout << s << "\n Cardinalities: {"; + for (const DiscreteKey& key : cardinalities_) + cout << formatter(key.first) << ":" << key.second << ", "; + cout << "}" << endl; + ADT::print(" "); +} // // /* ************************************************************************* */ // template @@ -95,4 +97,4 @@ namespace gtsam { /* ************************************************************************* */ -} // namespace gtsam +} // namespace gtsam From 621e79f06c27c66bd9804e1c462e494cfc2522ac Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 17:34:16 -0400 Subject: [PATCH 103/120] Add explicit HMM example --- examples/DiscreteBayesNetExample.cpp | 1 + examples/HMMExample.cpp | 94 ++++++++++++++++++++++++++++ 2 files changed, 95 insertions(+) create mode 100644 examples/HMMExample.cpp diff --git a/examples/DiscreteBayesNetExample.cpp b/examples/DiscreteBayesNetExample.cpp index 3531fd723..629043431 100644 --- a/examples/DiscreteBayesNetExample.cpp +++ b/examples/DiscreteBayesNetExample.cpp @@ -18,6 +18,7 @@ #include #include +#include #include diff --git a/examples/HMMExample.cpp b/examples/HMMExample.cpp new file mode 100644 index 000000000..a56058633 --- /dev/null +++ b/examples/HMMExample.cpp @@ -0,0 +1,94 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010-2020, 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 DiscreteBayesNetExample.cpp + * @brief Hidden Markov Model example, discrete. + * @author Frank Dellaert + * @date July 12, 2020 + */ + +#include +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char **argv) { + const int nrNodes = 4; + const size_t nrStates = 3; + + // Define variables as well as ordering + Ordering ordering; + vector keys; + for (int k = 0; k < nrNodes; k++) { + DiscreteKey key_i(k, nrStates); + keys.push_back(key_i); + ordering.emplace_back(k); + } + + // Create HMM as a DiscreteBayesNet + DiscreteBayesNet hmm; + + // Define backbone + const string transition = "8/1/1 1/8/1 1/1/8"; + for (int k = 1; k < nrNodes; k++) { + hmm.add(keys[k] | keys[k - 1] = transition); + } + + // Add some measurements, not needed for all time steps! + hmm.add(keys[0] % "7/2/1"); + hmm.add(keys[1] % "1/9/0"); + hmm.add(keys.back() % "5/4/1"); + + // print + hmm.print("HMM"); + + // Convert to factor graph + DiscreteFactorGraph factorGraph(hmm); + + // Create solver and eliminate + // This will create a DAG ordered with arrow of time reversed + DiscreteBayesNet::shared_ptr chordal = + factorGraph.eliminateSequential(ordering); + chordal->print("Eliminated"); + + // solve + DiscreteFactor::sharedValues mpe = chordal->optimize(); + GTSAM_PRINT(*mpe); + + // We can also sample from it + cout << "\n10 samples:" << endl; + for (size_t k = 0; k < 10; k++) { + DiscreteFactor::sharedValues sample = chordal->sample(); + GTSAM_PRINT(*sample); + } + + // Or compute the marginals. This re-eliminates the FG into a Bayes tree + cout << "\nComputing Node Marginals .." << endl; + DiscreteMarginals marginals(factorGraph); + for (int k = 0; k < nrNodes; k++) { + Vector margProbs = marginals.marginalProbabilities(keys[k]); + stringstream ss; + ss << "marginal " << k; + print(margProbs, ss.str()); + } + + // TODO(frank): put in the glue to have DiscreteMarginals produce *arbitrary* + // joints efficiently, by the Bayes tree shortcut magic. All the code is there + // but it's not yet connected. + + return 0; +} From 947d7377b49b5863891995c410652eb0fc212277 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Sun, 12 Jul 2020 23:25:07 -0400 Subject: [PATCH 104/120] Modernized sample function --- gtsam/discrete/DiscreteConditional.cpp | 51 ++++++-------------------- 1 file changed, 12 insertions(+), 39 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index acd0cefee..ac7c58405 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -184,55 +184,28 @@ size_t DiscreteConditional::solve(const Values& parentsValues) const { /* ******************************************************************************** */ size_t DiscreteConditional::sample(const Values& parentsValues) const { - - static mt19937 rng(2); // random number generator - - bool debug = ISDEBUG("DiscreteConditional::sample"); + static mt19937 rng(2); // random number generator // Get the correct conditional density - ADT pFS = choose(parentsValues); // P(F|S=parentsValues) - if (debug) - GTSAM_PRINT(pFS); + ADT pFS = choose(parentsValues); // P(F|S=parentsValues) - // get cumulative distribution function (cdf) - // TODO, only works for one key now, seems horribly slow this way + // TODO(Duy): only works for one key now, seems horribly slow this way assert(nrFrontals() == 1); - Key j = (firstFrontalKey()); - size_t nj = cardinality(j); - vector cdf(nj); + Key key = firstFrontalKey(); + size_t nj = cardinality(key); + vector p(nj); Values frontals; - double sum = 0; for (size_t value = 0; value < nj; value++) { - frontals[j] = value; - double pValueS = pFS(frontals); // P(F=value|S=parentsValues) - sum += pValueS; // accumulate - if (debug) - cout << sum << " "; - if (pValueS == 1) { - if (debug) - cout << "--> " << value << endl; - return value; // shortcut exit + frontals[key] = value; + p[value] = pFS(frontals); // P(F=value|S=parentsValues) + if (p[value] == 1.0) { + return value; // shortcut exit } - cdf[value] = sum; } - - // inspired by http://www.boost.org/doc/libs/1_46_1/doc/html/boost_random/tutorial.html - uniform_real_distribution dist(0, cdf.back()); - size_t sampled = lower_bound(cdf.begin(), cdf.end(), dist(rng)) - cdf.begin(); - if (debug) - cout << "-> " << sampled << endl; - - return sampled; - - return 0; + std::discrete_distribution distribution(p.begin(), p.end()); + return distribution(rng); } -/* ******************************************************************************** */ -//void DiscreteConditional::permuteWithInverse( -// const Permutation& inversePermutation) { -// IndexConditionalOrdered::permuteWithInverse(inversePermutation); -// Potentials::permuteWithInverse(inversePermutation); -//} /* ******************************************************************************** */ }// namespace From 52927c1c5b8a5b3e71ce8184fb6fcb4ca4c7b83b Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Jul 2020 01:45:22 -0400 Subject: [PATCH 105/120] modify testNoiseModel to use loss instead of error --- gtsam/linear/tests/testNoiseModel.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index dd1d46b42..42d68a603 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -182,8 +182,9 @@ TEST(NoiseModel, ConstrainedMixed ) EXPECT(assert_equal(Vector3(0.5, 1.0, 0.5),d->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.5, 0.0, 0.5),d->whiten(feasible))); - DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->error(infeasible),1e-9); - DOUBLES_EQUAL(0.5 * 0.5,d->error(feasible),1e-9); + DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->loss(d->squaredMahalanobisDistance(infeasible)),1e-9); + DOUBLES_EQUAL(0.5, d->squaredMahalanobisDistance(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 0.5, d->loss(0.5),1e-9); } /* ************************************************************************* */ @@ -197,8 +198,9 @@ TEST(NoiseModel, ConstrainedAll ) EXPECT(assert_equal(Vector3(1.0, 1.0, 1.0),i->whiten(infeasible))); EXPECT(assert_equal(Vector3(0.0, 0.0, 0.0),i->whiten(feasible))); - DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->error(infeasible),1e-9); - DOUBLES_EQUAL(0.0,i->error(feasible),1e-9); + DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->loss(i->squaredMahalanobisDistance(infeasible)),1e-9); + DOUBLES_EQUAL(0.0, i->squaredMahalanobisDistance(feasible), 1e-9); + DOUBLES_EQUAL(0.0, i->loss(0.0),1e-9); } /* ************************************************************************* */ @@ -717,7 +719,8 @@ TEST(NoiseModel, lossFunctionAtZero) EQUALITY(cov, gaussian->covariance());\ EXPECT(assert_equal(white, gaussian->whiten(e)));\ EXPECT(assert_equal(e, gaussian->unwhiten(white)));\ - EXPECT_DOUBLES_EQUAL(0.5 * 251, gaussian->error(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\ + EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\ Matrix A = R.inverse(); Vector b = e;\ gaussian->WhitenSystem(A, b);\ EXPECT(assert_equal(I, A));\ From 529f6091d30eddc76119a28f674e41a104df45d5 Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Jul 2020 02:01:40 -0400 Subject: [PATCH 106/120] change doc --- doc/robust.pdf | Bin 205572 -> 205563 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/doc/robust.pdf b/doc/robust.pdf index 45c023384c723a506f5bb48b2bfcab5aa5b338c3..67b853f44eefdf176e8b73bad1a6fd3da83f93d8 100644 GIT binary patch delta 3753 zcmbt%X*3iL*u61!BKz1fmMoFk%=V)p`_5nz5=M*^Wov{CWgR6&K_U(WE@7MSFbniXqxgVZ$?sLwK?%_M6@ufjwCncFf0Q6zXoDz0Cv{)gkdqB7!;J~ zPJ}_>*RWWm2N4BFp)u~rYp{P3P8*GOC&G#UoIEu>J-tvc7!dqE7Fs(OY)no;rGsD=_y-k5Y z{Zb(CN33W|jm*R53~?VrwdvfDPupGgjQl0V3JJ)A8X2vRl5>%zrz^AaqMqI5Nm~LE z-1^1hY>f@T+eJ#ckygmb>py+Vaa4wW2xt7 zf8q(?c~I@sSnUH?jH3KI6b{D|7!=^??#mOBzv0Ztn13U9uc*eRP@doj_2+yu$En2( zrg=8!uV2bI#}Js72rV_pftBs7Z%!P3)1!*peH*ojey+m{s 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From 84bb4185298a080670be7235465b9730932e4352 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 14 Jul 2020 02:23:19 -0400 Subject: [PATCH 107/120] fix serialization warning for boost::optional --- gtsam/navigation/PreintegratedRotation.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 9346f749a..0e0559a32 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -62,8 +62,14 @@ struct GTSAM_EXPORT PreintegratedRotationParams { void serialize(ARCHIVE & ar, const unsigned int /*version*/) { namespace bs = ::boost::serialization; ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance); - ar & BOOST_SERIALIZATION_NVP(omegaCoriolis); ar & BOOST_SERIALIZATION_NVP(body_P_sensor); + + // Provide support for Eigen::Matrix in boost::optional + bool omegaCoriolisFlag = omegaCoriolis.is_initialized(); + ar & boost::serialization::make_nvp("omegaCoriolisFlag", omegaCoriolisFlag); + if (omegaCoriolisFlag) { + ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis); + } } #ifdef GTSAM_USE_QUATERNIONS From c76ebcf9e7a19ff3908e398d452f369000a1a049 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Tue, 14 Jul 2020 08:49:45 -0400 Subject: [PATCH 108/120] Partial Specialization --- gtsam/base/Matrix.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 37ae1dd9a..1c1138438 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -610,5 +610,11 @@ namespace boost { split_free(ar, m, version); } + // specialized to Matrix for MATLAB wrapper + template + void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) { + split_free(ar, m, version); + } + } // namespace serialization } // namespace boost From 4b4a0e532f7089d9cf8ba569ded01dcd19f944b0 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Tue, 14 Jul 2020 08:50:20 -0400 Subject: [PATCH 109/120] Add BayesNet-inst.h at end of BayesNet.h --- examples/DiscreteBayesNetExample.cpp | 2 +- examples/HMMExample.cpp | 2 +- gtsam/discrete/tests/testDiscreteBayesTree.cpp | 2 +- gtsam/discrete/tests/testDiscreteFactorGraph.cpp | 2 +- gtsam/inference/BayesNet.h | 4 +++- 5 files changed, 7 insertions(+), 5 deletions(-) diff --git a/examples/DiscreteBayesNetExample.cpp b/examples/DiscreteBayesNetExample.cpp index 629043431..5dca116c3 100644 --- a/examples/DiscreteBayesNetExample.cpp +++ b/examples/DiscreteBayesNetExample.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include diff --git a/examples/HMMExample.cpp b/examples/HMMExample.cpp index a56058633..ee861e381 100644 --- a/examples/HMMExample.cpp +++ b/examples/HMMExample.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp index 11a88af59..ecf485036 100644 --- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include using namespace boost::assign; diff --git a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp index 7a0e1eaf7..1defd5acf 100644 --- a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp +++ b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index a69fb9b8c..0597ece98 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -69,4 +69,6 @@ namespace gtsam { void saveGraph(const std::string &s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; }; -} \ No newline at end of file +} + +#include From aca002fc126c521d750b4c0f091669e6f34e1fe7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 14 Jul 2020 13:25:08 -0400 Subject: [PATCH 110/120] correct indentation for Python version --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index f6f012118..a520d4d74 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -607,7 +607,7 @@ endif() message(STATUS "Cython toolbox flags ") print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ") if(GTSAM_INSTALL_CYTHON_TOOLBOX) - message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}") + message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}") endif() message(STATUS "===============================================================") From 94bb08ed34ab87e55f88f88f71dafb3c975daab8 Mon Sep 17 00:00:00 2001 From: Mike Sheffler Date: Tue, 14 Jul 2020 13:03:21 -0700 Subject: [PATCH 111/120] Missing BOOST_SERIALIZATION_NVP wrapper macro for an argument to be serialized --- gtsam/geometry/SOn.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h index f44c578cc..a6392c2f9 100644 --- a/gtsam/geometry/SOn.h +++ b/gtsam/geometry/SOn.h @@ -340,7 +340,7 @@ void serialize( const unsigned int file_version ) { Matrix& M = Q.matrix_; - ar& M; + ar& BOOST_SERIALIZATION_NVP(M); } /* From 23db3bb721fc5603e7fb9363029b88e92ac480e6 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 14 Jul 2020 23:24:47 +0200 Subject: [PATCH 112/120] docker tag and pip3 fixes; add a readme --- docker/README.md | 16 ++++++++++++++++ docker/ubuntu-boost-tbb/build.sh | 3 +++ docker/ubuntu-gtsam-python-vnc/Dockerfile | 6 +++--- docker/ubuntu-gtsam-python/Dockerfile | 4 ++-- docker/ubuntu-gtsam/Dockerfile | 6 +++--- 5 files changed, 27 insertions(+), 8 deletions(-) create mode 100644 docker/README.md create mode 100755 docker/ubuntu-boost-tbb/build.sh diff --git a/docker/README.md b/docker/README.md new file mode 100644 index 000000000..4dec63b94 --- /dev/null +++ b/docker/README.md @@ -0,0 +1,16 @@ +# Instructions + +Build all docker images, in order: + +```bash +(cd ubuntu-boost-tbb && exec build.sh) +(cd ubuntu-gtsam && exec build.sh) +(cd ubuntu-gtsam-python && exec build.sh) +(cd ubuntu-gtsam-python-vnc && exec build.sh) +``` + +Then launch with: + + docker run dellaert/ubuntu-gtsam-python-vnc:bionic + + diff --git a/docker/ubuntu-boost-tbb/build.sh b/docker/ubuntu-boost-tbb/build.sh new file mode 100755 index 000000000..2dac4c3db --- /dev/null +++ b/docker/ubuntu-boost-tbb/build.sh @@ -0,0 +1,3 @@ +# Build command for Docker image +# TODO(dellaert): use docker compose and/or cmake +docker build --no-cache -t dellaert/ubuntu-boost-tbb:bionic . diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile index 26f995c56..61ecd9b9a 100644 --- a/docker/ubuntu-gtsam-python-vnc/Dockerfile +++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile @@ -1,18 +1,18 @@ # This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction. # Get the base Ubuntu/GTSAM image from Docker Hub -FROM dellaert/ubuntu-gtsam-python:latest +FROM dellaert/ubuntu-gtsam-python:bionic # Things needed to get a python GUI ENV DEBIAN_FRONTEND noninteractive RUN apt install -y python-tk -RUN pip install matplotlib +RUN python3 -m pip install matplotlib # Install a VNC X-server, Frame buffer, and windows manager RUN apt install -y x11vnc xvfb fluxbox # Finally, install wmctrl needed for bootstrap script -RUN apt install -y wmctrl +RUN apt install -y wmctrl # Copy bootstrap script and make sure it runs COPY bootstrap.sh / diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile index 71787d480..c733ceb19 100644 --- a/docker/ubuntu-gtsam-python/Dockerfile +++ b/docker/ubuntu-gtsam-python/Dockerfile @@ -1,7 +1,7 @@ # GTSAM Ubuntu image with Python wrapper support. # Get the base Ubuntu/GTSAM image from Docker Hub -FROM dellaert/ubuntu-gtsam:latest +FROM dellaert/ubuntu-gtsam:bionic # Install pip RUN apt-get install -y python3-pip python3-dev @@ -25,7 +25,7 @@ RUN cmake \ RUN make -j4 install && make clean # Needed to run python wrapper: -RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc +RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc # Run bash CMD ["bash"] diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile index 393443361..187c76314 100644 --- a/docker/ubuntu-gtsam/Dockerfile +++ b/docker/ubuntu-gtsam/Dockerfile @@ -1,10 +1,10 @@ # Ubuntu image with GTSAM installed. Configured with Boost and TBB support. # Get the base Ubuntu image from Docker Hub -FROM dellaert/ubuntu-boost-tbb:latest +FROM dellaert/ubuntu-boost-tbb:bionic # Install git -RUN apt-get update && \ +RUN apt-get update && \ apt-get install -y git # Install compiler @@ -30,7 +30,7 @@ RUN cmake \ RUN make -j4 install && make clean # Needed to link with GTSAM -RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc +RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc # Run bash CMD ["bash"] From 17873485db36531a2a360b4bd609139e2c0e7128 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco Claraco Date: Tue, 14 Jul 2020 23:33:25 +0200 Subject: [PATCH 113/120] complete README --- docker/README.md | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/docker/README.md b/docker/README.md index 4dec63b94..0c136f94c 100644 --- a/docker/README.md +++ b/docker/README.md @@ -3,14 +3,19 @@ Build all docker images, in order: ```bash -(cd ubuntu-boost-tbb && exec build.sh) -(cd ubuntu-gtsam && exec build.sh) -(cd ubuntu-gtsam-python && exec build.sh) -(cd ubuntu-gtsam-python-vnc && exec build.sh) +(cd ubuntu-boost-tbb && ./build.sh) +(cd ubuntu-gtsam && ./build.sh) +(cd ubuntu-gtsam-python && ./build.sh) +(cd ubuntu-gtsam-python-vnc && ./build.sh) ``` Then launch with: - docker run dellaert/ubuntu-gtsam-python-vnc:bionic + docker run -p 5900:5900 dellaert/ubuntu-gtsam-python-vnc:bionic + +Then open a remote VNC X client, for example: + + sudo apt-get install tigervnc-viewer + xtigervncviewer :5900 From 02e8966d4f33a615a338fc17fa024c7387167bb9 Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Wed, 15 Jul 2020 23:19:44 -0400 Subject: [PATCH 114/120] set default initialization --- gtsam/nonlinear/AdaptAutoDiff.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h index ff059ef78..682cca29a 100644 --- a/gtsam/nonlinear/AdaptAutoDiff.h +++ b/gtsam/nonlinear/AdaptAutoDiff.h @@ -57,7 +57,7 @@ class AdaptAutoDiff { if (H1 || H2) { // Get derivatives with AutoDiff const double* parameters[] = {v1.data(), v2.data()}; - double rowMajor1[M * N1], rowMajor2[M * N2]; // on the stack + double rowMajor1[M * N1] = {}, rowMajor2[M * N2] = {}; // on the stack double* jacobians[] = {rowMajor1, rowMajor2}; success = AutoDiff::Differentiate( f, parameters, M, result.data(), jacobians); From 2605e10c27cdeacf5a65ff4dbc1f332e6eea44d0 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Tue, 21 Jul 2020 11:04:36 -0400 Subject: [PATCH 115/120] Fixed conventions for Jacobians --- GTSAM-Concepts.md | 4 +- gtsam/geometry/Pose3.cpp | 158 ++++++++++++++++++++------------------- gtsam/geometry/Pose3.h | 80 ++++++++++---------- 3 files changed, 122 insertions(+), 120 deletions(-) diff --git a/GTSAM-Concepts.md b/GTSAM-Concepts.md index a6cfee984..953357ede 100644 --- a/GTSAM-Concepts.md +++ b/GTSAM-Concepts.md @@ -72,9 +72,9 @@ A Lie group is both a manifold *and* a group. Hence, a LIE_GROUP type should imp However, we now also need to be able to evaluate the derivatives of compose and inverse. Hence, we have the following extra valid static functions defined in the struct `gtsam::traits`: -* `r = traits::Compose(p,q,Hq,Hp)` +* `r = traits::Compose(p,q,Hp,Hq)` * `q = traits::Inverse(p,Hp)` -* `r = traits::Between(p,q,Hq,H2p)` +* `r = traits::Between(p,q,Hp,Hq)` where above the *H* arguments stand for optional Jacobian arguments. That makes it possible to create factors implementing priors (PriorFactor) or relations between two instances of a Lie group type (BetweenFactor). diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 31033a027..0ee19ef76 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -19,8 +19,10 @@ #include #include -#include #include +#include +#include +#include using namespace std; @@ -36,10 +38,10 @@ Pose3::Pose3(const Pose2& pose2) : } /* ************************************************************************* */ -Pose3 Pose3::Create(const Rot3& R, const Point3& t, OptionalJacobian<6, 3> H1, - OptionalJacobian<6, 3> H2) { - if (H1) *H1 << I_3x3, Z_3x3; - if (H2) *H2 << Z_3x3, R.transpose(); +Pose3 Pose3::Create(const Rot3& R, const Point3& t, OptionalJacobian<6, 3> HR, + OptionalJacobian<6, 3> Ht) { + if (HR) *HR << I_3x3, Z_3x3; + if (Ht) *Ht << Z_3x3, R.transpose(); return Pose3(R, t); } @@ -72,15 +74,15 @@ Matrix6 Pose3::adjointMap(const Vector6& xi) { /* ************************************************************************* */ Vector6 Pose3::adjoint(const Vector6& xi, const Vector6& y, - OptionalJacobian<6,6> H) { - if (H) { - H->setZero(); + OptionalJacobian<6, 6> Hxi) { + if (Hxi) { + Hxi->setZero(); for (int i = 0; i < 6; ++i) { Vector6 dxi; dxi.setZero(); dxi(i) = 1.0; Matrix6 Gi = adjointMap(dxi); - H->col(i) = Gi * y; + Hxi->col(i) = Gi * y; } } return adjointMap(xi) * y; @@ -88,15 +90,15 @@ Vector6 Pose3::adjoint(const Vector6& xi, const Vector6& y, /* ************************************************************************* */ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y, - OptionalJacobian<6,6> H) { - if (H) { - H->setZero(); + OptionalJacobian<6, 6> Hxi) { + if (Hxi) { + Hxi->setZero(); for (int i = 0; i < 6; ++i) { Vector6 dxi; dxi.setZero(); dxi(i) = 1.0; Matrix6 GTi = adjointMap(dxi).transpose(); - H->col(i) = GTi * y; + Hxi->col(i) = GTi * y; } } return adjointMap(xi).transpose() * y; @@ -116,8 +118,8 @@ bool Pose3::equals(const Pose3& pose, double tol) const { /* ************************************************************************* */ /** Modified from Murray94book version (which assumes w and v normalized?) */ -Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> H) { - if (H) *H = ExpmapDerivative(xi); +Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi) { + if (Hxi) *Hxi = ExpmapDerivative(xi); // get angular velocity omega and translational velocity v from twist xi Vector3 omega(xi(0), xi(1), xi(2)), v(xi(3), xi(4), xi(5)); @@ -125,8 +127,8 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> H) { Rot3 R = Rot3::Expmap(omega); double theta2 = omega.dot(omega); if (theta2 > std::numeric_limits::epsilon()) { - Vector3 t_parallel = omega * omega.dot(v); // translation parallel to axis - Vector3 omega_cross_v = omega.cross(v); // points towards axis + Vector3 t_parallel = omega * omega.dot(v); // translation parallel to axis + Vector3 omega_cross_v = omega.cross(v); // points towards axis Vector3 t = (omega_cross_v - R * omega_cross_v + t_parallel) / theta2; return Pose3(R, t); } else { @@ -135,10 +137,10 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> H) { } /* ************************************************************************* */ -Vector6 Pose3::Logmap(const Pose3& p, OptionalJacobian<6, 6> H) { - if (H) *H = LogmapDerivative(p); - const Vector3 w = Rot3::Logmap(p.rotation()); - const Vector3 T = p.translation(); +Vector6 Pose3::Logmap(const Pose3& pose, OptionalJacobian<6, 6> Hpose) { + if (Hpose) *Hpose = LogmapDerivative(pose); + const Vector3 w = Rot3::Logmap(pose.rotation()); + const Vector3 T = pose.translation(); const double t = w.norm(); if (t < 1e-10) { Vector6 log; @@ -158,33 +160,33 @@ Vector6 Pose3::Logmap(const Pose3& p, OptionalJacobian<6, 6> H) { } /* ************************************************************************* */ -Pose3 Pose3::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian H) { +Pose3 Pose3::ChartAtOrigin::Retract(const Vector6& xi, ChartJacobian Hxi) { #ifdef GTSAM_POSE3_EXPMAP - return Expmap(xi, H); + return Expmap(xi, Hxi); #else Matrix3 DR; - Rot3 R = Rot3::Retract(xi.head<3>(), H ? &DR : 0); - if (H) { - *H = I_6x6; - H->topLeftCorner<3,3>() = DR; + Rot3 R = Rot3::Retract(xi.head<3>(), Hxi ? &DR : 0); + if (Hxi) { + *Hxi = I_6x6; + Hxi->topLeftCorner<3, 3>() = DR; } return Pose3(R, Point3(xi.tail<3>())); #endif } /* ************************************************************************* */ -Vector6 Pose3::ChartAtOrigin::Local(const Pose3& T, ChartJacobian H) { +Vector6 Pose3::ChartAtOrigin::Local(const Pose3& pose, ChartJacobian Hpose) { #ifdef GTSAM_POSE3_EXPMAP - return Logmap(T, H); + return Logmap(pose, Hpose); #else Matrix3 DR; - Vector3 omega = Rot3::LocalCoordinates(T.rotation(), H ? &DR : 0); - if (H) { - *H = I_6x6; - H->topLeftCorner<3,3>() = DR; + Vector3 omega = Rot3::LocalCoordinates(pose.rotation(), Hpose ? &DR : 0); + if (Hpose) { + *Hpose = I_6x6; + Hpose->topLeftCorner<3, 3>() = DR; } Vector6 xi; - xi << omega, T.translation(); + xi << omega, pose.translation(); return xi; #endif } @@ -261,16 +263,16 @@ Matrix6 Pose3::LogmapDerivative(const Pose3& pose) { } /* ************************************************************************* */ -const Point3& Pose3::translation(OptionalJacobian<3, 6> H) const { - if (H) *H << Z_3x3, rotation().matrix(); +const Point3& Pose3::translation(OptionalJacobian<3, 6> Hself) const { + if (Hself) *Hself << Z_3x3, rotation().matrix(); return t_; } /* ************************************************************************* */ -const Rot3& Pose3::rotation(OptionalJacobian<3, 6> H) const { - if (H) { - *H << I_3x3, Z_3x3; +const Rot3& Pose3::rotation(OptionalJacobian<3, 6> Hself) const { + if (Hself) { + *Hself << I_3x3, Z_3x3; } return R_; } @@ -299,101 +301,101 @@ Pose3 Pose3::transform_to(const Pose3& pose) const { #endif /* ************************************************************************* */ -Pose3 Pose3::transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> H1, - OptionalJacobian<6, 6> H2) const { - if (H1) *H1 = -wTb.inverse().AdjointMap() * AdjointMap(); - if (H2) *H2 = I_6x6; +Pose3 Pose3::transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> Hself, + OptionalJacobian<6, 6> HwTb) const { + if (Hself) *Hself = -wTb.inverse().AdjointMap() * AdjointMap(); + if (HwTb) *HwTb = I_6x6; const Pose3& wTa = *this; return wTa.inverse() * wTb; } /* ************************************************************************* */ -Point3 Pose3::transformFrom(const Point3& p, OptionalJacobian<3,6> Dpose, - OptionalJacobian<3,3> Dpoint) const { +Point3 Pose3::transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself, + OptionalJacobian<3, 3> Hpoint) const { // Only get matrix once, to avoid multiple allocations, // as well as multiple conversions in the Quaternion case const Matrix3 R = R_.matrix(); - if (Dpose) { - Dpose->leftCols<3>() = R * skewSymmetric(-p.x(), -p.y(), -p.z()); - Dpose->rightCols<3>() = R; + if (Hself) { + Hself->leftCols<3>() = R * skewSymmetric(-p.x(), -p.y(), -p.z()); + Hself->rightCols<3>() = R; } - if (Dpoint) { - *Dpoint = R; + if (Hpoint) { + *Hpoint = R; } return R_ * p + t_; } /* ************************************************************************* */ -Point3 Pose3::transformTo(const Point3& p, OptionalJacobian<3,6> Dpose, - OptionalJacobian<3,3> Dpoint) const { +Point3 Pose3::transformTo(const Point3& p, OptionalJacobian<3, 6> Hself, + OptionalJacobian<3, 3> Hpoint) const { // Only get transpose once, to avoid multiple allocations, // as well as multiple conversions in the Quaternion case const Matrix3 Rt = R_.transpose(); const Point3 q(Rt*(p - t_)); - if (Dpose) { + if (Hself) { const double wx = q.x(), wy = q.y(), wz = q.z(); - (*Dpose) << + (*Hself) << 0.0, -wz, +wy,-1.0, 0.0, 0.0, +wz, 0.0, -wx, 0.0,-1.0, 0.0, -wy, +wx, 0.0, 0.0, 0.0,-1.0; } - if (Dpoint) { - *Dpoint = Rt; + if (Hpoint) { + *Hpoint = Rt; } return q; } /* ************************************************************************* */ -double Pose3::range(const Point3& point, OptionalJacobian<1, 6> H1, - OptionalJacobian<1, 3> H2) const { +double Pose3::range(const Point3& point, OptionalJacobian<1, 6> Hself, + OptionalJacobian<1, 3> Hpoint) const { Matrix36 D_local_pose; Matrix3 D_local_point; - Point3 local = transformTo(point, H1 ? &D_local_pose : 0, H2 ? &D_local_point : 0); - if (!H1 && !H2) { + Point3 local = transformTo(point, Hself ? &D_local_pose : 0, Hpoint ? &D_local_point : 0); + if (!Hself && !Hpoint) { return local.norm(); } else { Matrix13 D_r_local; const double r = norm3(local, D_r_local); - if (H1) *H1 = D_r_local * D_local_pose; - if (H2) *H2 = D_r_local * D_local_point; + if (Hself) *Hself = D_r_local * D_local_pose; + if (Hpoint) *Hpoint = D_r_local * D_local_point; return r; } } /* ************************************************************************* */ -double Pose3::range(const Pose3& pose, OptionalJacobian<1, 6> H1, - OptionalJacobian<1, 6> H2) const { +double Pose3::range(const Pose3& pose, OptionalJacobian<1, 6> Hself, + OptionalJacobian<1, 6> Hpose) const { Matrix13 D_local_point; - double r = range(pose.translation(), H1, H2 ? &D_local_point : 0); - if (H2) *H2 << Matrix13::Zero(), D_local_point * pose.rotation().matrix(); + double r = range(pose.translation(), Hself, Hpose ? &D_local_point : 0); + if (Hpose) *Hpose << Matrix13::Zero(), D_local_point * pose.rotation().matrix(); return r; } /* ************************************************************************* */ -Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1, - OptionalJacobian<2, 3> H2) const { +Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> Hself, + OptionalJacobian<2, 3> Hpoint) const { Matrix36 D_local_pose; Matrix3 D_local_point; - Point3 local = transformTo(point, H1 ? &D_local_pose : 0, H2 ? &D_local_point : 0); - if (!H1 && !H2) { + Point3 local = transformTo(point, Hself ? &D_local_pose : 0, Hpoint ? &D_local_point : 0); + if (!Hself && !Hpoint) { return Unit3(local); } else { Matrix23 D_b_local; Unit3 b = Unit3::FromPoint3(local, D_b_local); - if (H1) *H1 = D_b_local * D_local_pose; - if (H2) *H2 = D_b_local * D_local_point; + if (Hself) *Hself = D_b_local * D_local_pose; + if (Hpoint) *Hpoint = D_b_local * D_local_point; return b; } } /* ************************************************************************* */ -Unit3 Pose3::bearing(const Pose3& pose, OptionalJacobian<2, 6> H1, - OptionalJacobian<2, 6> H2) const { - if (H2) { - H2->setZero(); - return bearing(pose.translation(), H1, H2.cols<3>(3)); +Unit3 Pose3::bearing(const Pose3& pose, OptionalJacobian<2, 6> Hself, + OptionalJacobian<2, 6> Hpose) const { + if (Hpose) { + Hpose->setZero(); + return bearing(pose.translation(), Hself, Hpose.cols<3>(3)); } - return bearing(pose.translation(), H1, boost::none); + return bearing(pose.translation(), Hself, boost::none); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index ced3b904b..f56e6903a 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -75,8 +75,8 @@ public: /// Named constructor with derivatives static Pose3 Create(const Rot3& R, const Point3& t, - OptionalJacobian<6, 3> H1 = boost::none, - OptionalJacobian<6, 3> H2 = boost::none); + OptionalJacobian<6, 3> HR = boost::none, + OptionalJacobian<6, 3> Ht = boost::none); /** * Create Pose3 by aligning two point pairs @@ -117,10 +117,10 @@ public: /// @{ /// Exponential map at identity - create a rotation from canonical coordinates \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$ - static Pose3 Expmap(const Vector6& xi, OptionalJacobian<6, 6> H = boost::none); + static Pose3 Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi = boost::none); /// Log map at identity - return the canonical coordinates \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$ of this rotation - static Vector6 Logmap(const Pose3& p, OptionalJacobian<6, 6> H = boost::none); + static Vector6 Logmap(const Pose3& pose, OptionalJacobian<6, 6> Hpose = boost::none); /** * Calculate Adjoint map, transforming a twist in the this pose's (i.e, body) frame to the world spatial frame @@ -157,7 +157,7 @@ public: * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives */ static Vector6 adjoint(const Vector6 &xi, const Vector6 &y, - OptionalJacobian<6, 6> = boost::none); + OptionalJacobian<6, 6> Hxi = boost::none); // temporary fix for wrappers until case issue is resolved static Matrix6 adjointMap_(const Vector6 &xi) { return adjointMap(xi);} @@ -167,7 +167,7 @@ public: * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space. */ static Vector6 adjointTranspose(const Vector6& xi, const Vector6& y, - OptionalJacobian<6, 6> H = boost::none); + OptionalJacobian<6, 6> Hxi = boost::none); /// Derivative of Expmap static Matrix6 ExpmapDerivative(const Vector6& xi); @@ -177,8 +177,8 @@ public: // Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP struct ChartAtOrigin { - static Pose3 Retract(const Vector6& v, ChartJacobian H = boost::none); - static Vector6 Local(const Pose3& r, ChartJacobian H = boost::none); + static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = boost::none); + static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = boost::none); }; using LieGroup::inverse; // version with derivative @@ -202,12 +202,12 @@ public: /** * @brief takes point in Pose coordinates and transforms it to world coordinates * @param p point in Pose coordinates - * @param Dpose optional 3*6 Jacobian wrpt this pose - * @param Dpoint optional 3*3 Jacobian wrpt point + * @param Hself optional 3*6 Jacobian wrpt this pose + * @param Hpoint optional 3*3 Jacobian wrpt point * @return point in world coordinates */ - Point3 transformFrom(const Point3& p, OptionalJacobian<3, 6> Dpose = - boost::none, OptionalJacobian<3, 3> Dpoint = boost::none) const; + Point3 transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself = + boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const; /** syntactic sugar for transformFrom */ inline Point3 operator*(const Point3& p) const { @@ -217,22 +217,22 @@ public: /** * @brief takes point in world coordinates and transforms it to Pose coordinates * @param p point in world coordinates - * @param Dpose optional 3*6 Jacobian wrpt this pose - * @param Dpoint optional 3*3 Jacobian wrpt point + * @param Hself optional 3*6 Jacobian wrpt this pose + * @param Hpoint optional 3*3 Jacobian wrpt point * @return point in Pose coordinates */ - Point3 transformTo(const Point3& p, OptionalJacobian<3, 6> Dpose = - boost::none, OptionalJacobian<3, 3> Dpoint = boost::none) const; + Point3 transformTo(const Point3& p, OptionalJacobian<3, 6> Hself = + boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const; /// @} /// @name Standard Interface /// @{ /// get rotation - const Rot3& rotation(OptionalJacobian<3, 6> H = boost::none) const; + const Rot3& rotation(OptionalJacobian<3, 6> Hself = boost::none) const; /// get translation - const Point3& translation(OptionalJacobian<3, 6> H = boost::none) const; + const Point3& translation(OptionalJacobian<3, 6> Hself = boost::none) const; /// get x double x() const { @@ -256,32 +256,32 @@ public: Pose3 transformPoseFrom(const Pose3& pose) const; /** receives a pose in world coordinates and transforms it to local coordinates */ - Pose3 transformPoseTo(const Pose3& pose, OptionalJacobian<6, 6> H1 = boost::none, - OptionalJacobian<6, 6> H2 = boost::none) const; + Pose3 transformPoseTo(const Pose3& pose, OptionalJacobian<6, 6> Hself = boost::none, + OptionalJacobian<6, 6> Hpose = boost::none) const; /** * Calculate range to a landmark * @param point 3D location of landmark * @return range (double) */ - double range(const Point3& point, OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 3> H2 = boost::none) const; + double range(const Point3& point, OptionalJacobian<1, 6> Hself = boost::none, + OptionalJacobian<1, 3> Hpoint = boost::none) const; /** * Calculate range to another pose * @param pose Other SO(3) pose * @return range (double) */ - double range(const Pose3& pose, OptionalJacobian<1, 6> H1 = boost::none, - OptionalJacobian<1, 6> H2 = boost::none) const; + double range(const Pose3& pose, OptionalJacobian<1, 6> Hself = boost::none, + OptionalJacobian<1, 6> Hpose = boost::none) const; /** * Calculate bearing to a landmark * @param point 3D location of landmark * @return bearing (Unit3) */ - Unit3 bearing(const Point3& point, OptionalJacobian<2, 6> H1 = boost::none, - OptionalJacobian<2, 3> H2 = boost::none) const; + Unit3 bearing(const Point3& point, OptionalJacobian<2, 6> Hself = boost::none, + OptionalJacobian<2, 3> Hpoint = boost::none) const; /** * Calculate bearing to another pose @@ -289,8 +289,8 @@ public: * information is ignored. * @return bearing (Unit3) */ - Unit3 bearing(const Pose3& pose, OptionalJacobian<2, 6> H1 = boost::none, - OptionalJacobian<2, 6> H2 = boost::none) const; + Unit3 bearing(const Pose3& pose, OptionalJacobian<2, 6> Hself = boost::none, + OptionalJacobian<2, 6> Hpose = boost::none) const; /// @} /// @name Advanced Interface @@ -321,20 +321,20 @@ public: #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4 /// @name Deprecated /// @{ - Point3 transform_from(const Point3& p, - OptionalJacobian<3, 6> Dpose = boost::none, - OptionalJacobian<3, 3> Dpoint = boost::none) const { - return transformFrom(p, Dpose, Dpoint); + Point3 transform_from(const Point3& point, + OptionalJacobian<3, 6> Hself = boost::none, + OptionalJacobian<3, 3> Hpoint = boost::none) const { + return transformFrom(point, Hself, Hpoint); } - Point3 transform_to(const Point3& p, - OptionalJacobian<3, 6> Dpose = boost::none, - OptionalJacobian<3, 3> Dpoint = boost::none) const { - return transformTo(p, Dpose, Dpoint); + Point3 transform_to(const Point3& point, + OptionalJacobian<3, 6> Hself = boost::none, + OptionalJacobian<3, 3> Hpoint = boost::none) const { + return transformTo(point, Hself, Hpoint); } - Pose3 transform_pose_to(const Pose3& pose, - OptionalJacobian<6, 6> H1 = boost::none, - OptionalJacobian<6, 6> H2 = boost::none) const { - return transformPoseTo(pose, H1, H2); + Pose3 transform_pose_to(const Pose3& pose, + OptionalJacobian<6, 6> Hself = boost::none, + OptionalJacobian<6, 6> Hpose = boost::none) const { + return transformPoseTo(pose, Hself, Hpose); } /** * @deprecated: this function is neither here not there. */ From d672e7eb871308524184a4033e4d7728c6c6f76b Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Tue, 21 Jul 2020 11:37:08 -0400 Subject: [PATCH 116/120] Unit test for transformPoseFrom --- gtsam/geometry/tests/testPose3.cpp | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 5808f36f8..a169c833c 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -418,6 +418,29 @@ TEST(Pose3, transform_to_rotate) { EXPECT(assert_equal(expected, actual, 0.001)); } +/* ************************************************************************* */ +// Check transformPoseFrom and its pushforward +Pose3 transformPoseFrom_(const Pose3& wTa, const Pose3& aTb) { + return wTa.transformPoseFrom(aTb); +} + +TEST(Pose3, transformPoseFrom) +{ + Matrix actual = (T2*T2).matrix(); + Matrix expected = T2.matrix()*T2.matrix(); + EXPECT(assert_equal(actual, expected, 1e-8)); + + Matrix H1, H2; + T2.transformPoseFrom(T2, H1, H2); + + Matrix numericalH1 = numericalDerivative21(transformPoseFrom_, T2, T2); + EXPECT(assert_equal(numericalH1, H1, 5e-3)); + EXPECT(assert_equal(T2.inverse().AdjointMap(), H1, 5e-3)); + + Matrix numericalH2 = numericalDerivative22(transformPoseFrom_, T2, T2); + EXPECT(assert_equal(numericalH2, H2, 1e-4)); +} + /* ************************************************************************* */ TEST(Pose3, transformTo) { Pose3 transform(Rot3::Rodrigues(0, 0, -1.570796), Point3(2, 4, 0)); From 6192f90de5cdf3b8e963678d3293b27b330cdbb5 Mon Sep 17 00:00:00 2001 From: Frank dellaert Date: Tue, 21 Jul 2020 11:37:23 -0400 Subject: [PATCH 117/120] Some more name changes and documentation --- gtsam/geometry/Pose3.cpp | 15 ++++++++------- gtsam/geometry/Pose3.h | 30 +++++++++++++++++++----------- 2 files changed, 27 insertions(+), 18 deletions(-) diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 0ee19ef76..1b9285100 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -286,9 +286,10 @@ Matrix4 Pose3::matrix() const { } /* ************************************************************************* */ -Pose3 Pose3::transformPoseFrom(const Pose3& aTb) const { +Pose3 Pose3::transformPoseFrom(const Pose3& aTb, OptionalJacobian<6, 6> Hself, + OptionalJacobian<6, 6> HaTb) const { const Pose3& wTa = *this; - return wTa * aTb; + return wTa.compose(aTb, Hself, HaTb); } /* ************************************************************************* */ @@ -310,28 +311,28 @@ Pose3 Pose3::transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> Hself, } /* ************************************************************************* */ -Point3 Pose3::transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself, +Point3 Pose3::transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself, OptionalJacobian<3, 3> Hpoint) const { // Only get matrix once, to avoid multiple allocations, // as well as multiple conversions in the Quaternion case const Matrix3 R = R_.matrix(); if (Hself) { - Hself->leftCols<3>() = R * skewSymmetric(-p.x(), -p.y(), -p.z()); + Hself->leftCols<3>() = R * skewSymmetric(-point.x(), -point.y(), -point.z()); Hself->rightCols<3>() = R; } if (Hpoint) { *Hpoint = R; } - return R_ * p + t_; + return R_ * point + t_; } /* ************************************************************************* */ -Point3 Pose3::transformTo(const Point3& p, OptionalJacobian<3, 6> Hself, +Point3 Pose3::transformTo(const Point3& point, OptionalJacobian<3, 6> Hself, OptionalJacobian<3, 3> Hpoint) const { // Only get transpose once, to avoid multiple allocations, // as well as multiple conversions in the Quaternion case const Matrix3 Rt = R_.transpose(); - const Point3 q(Rt*(p - t_)); + const Point3 q(Rt*(point - t_)); if (Hself) { const double wx = q.x(), wy = q.y(), wz = q.z(); (*Hself) << diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index f56e6903a..3825b6241 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -201,27 +201,27 @@ public: /** * @brief takes point in Pose coordinates and transforms it to world coordinates - * @param p point in Pose coordinates + * @param point point in Pose coordinates * @param Hself optional 3*6 Jacobian wrpt this pose * @param Hpoint optional 3*3 Jacobian wrpt point * @return point in world coordinates */ - Point3 transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself = + Point3 transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself = boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const; /** syntactic sugar for transformFrom */ - inline Point3 operator*(const Point3& p) const { - return transformFrom(p); + inline Point3 operator*(const Point3& point) const { + return transformFrom(point); } /** * @brief takes point in world coordinates and transforms it to Pose coordinates - * @param p point in world coordinates + * @param point point in world coordinates * @param Hself optional 3*6 Jacobian wrpt this pose * @param Hpoint optional 3*3 Jacobian wrpt point * @return point in Pose coordinates */ - Point3 transformTo(const Point3& p, OptionalJacobian<3, 6> Hself = + Point3 transformTo(const Point3& point, OptionalJacobian<3, 6> Hself = boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const; /// @} @@ -252,12 +252,20 @@ public: /** convert to 4*4 matrix */ Matrix4 matrix() const; - /** receives a pose in local coordinates and transforms it to world coordinates */ - Pose3 transformPoseFrom(const Pose3& pose) const; + /** + * Assuming self == wTa, takes a pose aTb in local coordinates + * and transforms it to world coordinates wTb = wTa * aTb. + * This is identical to compose. + */ + Pose3 transformPoseFrom(const Pose3& aTb, OptionalJacobian<6, 6> Hself = boost::none, + OptionalJacobian<6, 6> HaTb = boost::none) const; - /** receives a pose in world coordinates and transforms it to local coordinates */ - Pose3 transformPoseTo(const Pose3& pose, OptionalJacobian<6, 6> Hself = boost::none, - OptionalJacobian<6, 6> Hpose = boost::none) const; + /** + * Assuming self == wTa, takes a pose wTb in world coordinates + * and transforms it to local coordinates aTb = inv(wTa) * wTb + */ + Pose3 transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> Hself = boost::none, + OptionalJacobian<6, 6> HwTb = boost::none) const; /** * Calculate range to a landmark From 3f065f25c66e3bce14ac0c1206af000ec171b329 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 21 Jul 2020 11:32:58 -0500 Subject: [PATCH 118/120] Added more comments for clearer understanding --- gtsam/navigation/TangentPreintegration.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/TangentPreintegration.cpp b/gtsam/navigation/TangentPreintegration.cpp index 55efdb151..56d7aa6d3 100644 --- a/gtsam/navigation/TangentPreintegration.cpp +++ b/gtsam/navigation/TangentPreintegration.cpp @@ -68,7 +68,7 @@ Vector9 TangentPreintegration::UpdatePreintegrated(const Vector3& a_body, Matrix3 w_tangent_H_theta, invH; const Vector3 w_tangent = // angular velocity mapped back to tangent space local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0); - const Rot3 R(local.expmap()); + const Rot3 R(local.expmap()); // nRb: rotation of body in nav frame const Vector3 a_nav = R * a_body; const double dt22 = 0.5 * dt * dt; @@ -110,7 +110,7 @@ void TangentPreintegration::update(const Vector3& measuredAcc, Vector3 acc = biasHat_.correctAccelerometer(measuredAcc); Vector3 omega = biasHat_.correctGyroscope(measuredOmega); - // Possibly correct for sensor pose + // Possibly correct for sensor pose by converting to body frame Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega; if (p().body_P_sensor) boost::tie(acc, omega) = correctMeasurementsBySensorPose(acc, omega, From 24b2f50fe374a2d808a44c133c03f4793da02c60 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 21 Jul 2020 18:15:00 -0400 Subject: [PATCH 119/120] Bump version and switch Pose3 expmap default --- CMakeLists.txt | 6 +++--- appveyor.yml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 12cb6882e..edefbf2ea 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ endif() # Set the version number for the library set (GTSAM_VERSION_MAJOR 4) set (GTSAM_VERSION_MINOR 0) -set (GTSAM_VERSION_PATCH 2) +set (GTSAM_VERSION_PATCH 3) math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}") set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") @@ -68,8 +68,8 @@ if(GTSAM_UNSTABLE_AVAILABLE) endif() option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) -option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF) -option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF) +option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) +option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON) option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) diff --git a/appveyor.yml b/appveyor.yml index 2c78ca1f2..3747354cf 100644 --- a/appveyor.yml +++ b/appveyor.yml @@ -1,5 +1,5 @@ # version format -version: 4.0.2-{branch}-build{build} +version: 4.0.3-{branch}-build{build} os: Visual Studio 2019 From 456f1baf8f3083146310b7a45ba4675783dc9c8d Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Tue, 21 Jul 2020 20:55:21 -0400 Subject: [PATCH 120/120] Fix test for full Pose3 expmap --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index a85118c00..2f4f21286 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -168,7 +168,11 @@ Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! Vector9 P = Camera().localCoordinates(camera); Vector3 X = point; +#ifdef GTSAM_POSE3_EXPMAP +Vector2 expectedMeasurement(1.3124675, 1.2057287); +#else Vector2 expectedMeasurement(1.2431567, 1.2525694); +#endif Matrix E1 = numericalDerivative21(adapted, P, X); Matrix E2 = numericalDerivative22(adapted, P, X); } @@ -177,7 +181,11 @@ Matrix E2 = numericalDerivative22(adapted, P, X); // Check that Local worked as expected TEST(AdaptAutoDiff, Local) { using namespace example; +#ifdef GTSAM_POSE3_EXPMAP + Vector9 expectedP = (Vector9() << 0.1, 0.2, 0.3, 0.7583528428, 4.9582357859, -0.224941471539, 1, 0, 0).finished(); +#else Vector9 expectedP = (Vector9() << 0.1, 0.2, 0.3, 0, 5, 0, 1, 0, 0).finished(); +#endif EXPECT(equal_with_abs_tol(expectedP, P)); Vector3 expectedX(10, 0, -5); // negative Z-axis convention of Snavely! EXPECT(equal_with_abs_tol(expectedX, X));